Competitors must use the competition secretariat to designate and purchase the racing models, adopt Freescale 16-bit microcontroller MC9s128 as the core control unit, and independently conceive the control scheme and system design, including sensor signal acquisition and processing, control algorithm and implementation, power motor drive, steering gear control, etc. , complete the production and debugging of the smart car project, and participate in the venue competition in each division at the specified date and place. The ranking (achievement) of the participating teams is mainly determined by the time when the racing car successfully completes the track race, supplemented by the technical scheme and the quality score of the production project. The competition secretariat has formulated the following competition rules, which are applicable to the preliminaries and finals of each division. Strive for fair and just participation on the basis of practical operability. The secretariat will invite independent notaries to supervise the on-site activities and the evaluation process.
I. Equipment restrictions
1. Uniform designated vehicle types shall be adopted. See Annex I for details and modification restrictions;
2. The limited Freescale 16-bit microcontroller MC9S 12DG 128 should be used as the only control processor. For detailed information and restrictions on the use of other electronic devices, please refer to Annex II.
3. Other matters
If the parts that are forbidden to be replaced in the car model are damaged, the parts of the same model need to be replaced;
The size of the modified car model should not exceed: 250mm in width, 400mm in length and unlimited in height.
Second, the relevant provisions of the stadium
1. See Annex III for the basic parameters of the track (excluding the number of turning points, location and overall layout);
2. On the day of the competition, the actual layout of the competition track will be announced, and a test track with the same material as the actual track will be arranged in the stadium for each team to debug;
Third, the referee and technical evaluation
In the national finals, the Executive Committee of the Organizing Committee, which is composed of all directors and deputy directors (or their authorized representatives), is responsible for examining and approving the winners' list, accepting the objections or defenses raised by each team against the referee's decision, and making a final decision. The Organizing Committee has an independent technical review team and an on-site review team, which are respectively responsible for technical evaluation, on-site racing review, result confirmation and other matters. The two teams negotiated to decide the track layout. All the staff of the Organizing Committee of the Competition, including the technical evaluation team and the on-site evaluation team, shall not participate in any guidance or counseling for a single team except providing S 12 training.
In the preliminary stage of each competition area, the judges and technical judges will be organized and implemented by the organizing committee of each competition area with reference to the above-mentioned final stage.
Fourth, the rules of the competition in the division and finals
The rules of live competition in the competition area and the final area are the same, and it is divided into two stages: preliminary competition and final competition.
When calculating the results of the competition, only the shortest time of the competition circle is used to judge the points. In the final, it is necessary to comprehensively evaluate the scores of technical reports.
1. Rules for preliminaries and finals
1) Preliminary rules
There are two identical runways on the playing field.
Divide the team into two groups by drawing lots, and the order of the competition in the group is decided by drawing lots.
The competition is divided into two rounds, and the two groups compete on two tracks at the same time. After the first round, the two groups exchange venues and then play the second round.
Each car runs twice in a row on the track in each round, with the starting line as the timing point and the short lap as the single round result; Each car takes the better result of two single rounds as the competition result; Timing is completed by an electronic timer and displayed on the screen in real time.
From the two teams, choose the best 25 teams to advance to the final.
The technical evaluation team will conduct on-site technical inspection on all the promoted cars. If there is any violation of equipment restrictions (refer to Article 1 of these Rules), the qualification for the finals will be cancelled at that time, and the first candidate will be promoted instead;
The jury will submit the final list to the Executive Committee of the Organizing Committee for approval and publication.
After the preliminary round, the car model will be placed in the designated area and temporarily kept by the organizing Committee.
2) Final rule
The teams participating in the finals are sorted according to the preliminary results, and the competition order starts from 25th to 1.
The venue uses a track, and the final track is different from the preliminary track in shape, which will increase the area.
Each final team has only one chance to participate in the competition, running twice on the runway, taking the starting line as the timing point and calculating the final result with the fastest lap speed; Timing is completed by an electronic timer and displayed on the screen in real time.
The preliminary results are not recorded in the final results, but only the order of the final competition.
Competition process rules
According to the order of the game, the referee directs the teams to enter the stadium in turn. At the same time, only one team plays on one field.
After the referee calls the roll, each team designates a player to enter the competition field with the racing car, and places the racing car in the starting area of the track. After the referee announces the start of the race, the car should leave the starting area within 30 seconds and run two consecutive laps along the black guide line of the circular track. The sensors on both sides of the timing starting line will automatically time. After the race, the racer sped off the field.
If the race is completed, the computer scoring system will automatically give the best lap result.
3. Rules of foul and failure in the game
During the race, if the car hits the posts on both sides of the track, causing the car to fall or move, the referee will decide that the car is off the track. When the car ran off the runway twice before, the referee took out the car and gave it to the contestants, and immediately restarted the race in the starting area, and the lap was cancelled. After the car rushes off the track, the player can also give up the game.
If one of the following circumstances occurs in the competition, it is judged that the competition has failed:
After the referee called the roll, within 1 minute and 30 seconds, the team failed to enter the competition venue to prepare for the competition;
After the start of the race, the car did not leave the starting area within 30 seconds;
The car did not complete two laps within 2 minutes after leaving the starting area;
The car has run off the runway more than twice;
After the game starts, the player touches the car without the permission of the referee;
Before the final, the car failed the technical test.
If the game fails, the score will not be calculated.
Competition performance rules
When the preliminaries are held in each division, the result of the race is determined by the fastest lap speed of the car.
In the last regional race, the result is determined by the fastest lap speed of the car and the technical report of the team.
Technical report scoring method:
1) After receiving the technical report of the finalists, the organizing committee will submit all the information that can identify the participating teams, such as the names of participating schools and players, to the technical review team.
2) The technical review team will review the technical reports such as control scheme innovation, rational and full utilization of S 12 chip resources, and mechanical structure design scheme, and announce the scores before the final. The rating range of the report is 0- 10, and the specific evaluation criteria will be given before June 30, 2007.
The final score calculation of the finals is given by the following formula:
Final score (seconds) = Ts * (1-0.0 1R)
Where Ts is the fastest lap speed (seconds); R is the technical report score (score range 0- 10). For example, if Ts=35 seconds and R=5, the final score is
35 * (1-0.01* 5) = 33.25 seconds.
In view of the fact that the technical report scores (R) of each team have been published and entered into the scoring system before the start of the finals, the system will display the fastest lap times immediately after each team completes the track, and the system will immediately display the final results of the race calculated by the above formula and the tentative ranking so far. After all the finalists complete the track competition, the ranking order and results will be displayed in the system, but they must be reviewed by the judging panel and reported to the Executive Committee of the Organizing Committee for approval and publication.
Prohibition of competition
It is not allowed to install auxiliary lighting equipment and other auxiliary sensors around the track;
After entering the arena, players are not allowed to modify any hardware and software except batteries.
No one is allowed to enter the venue except the referee and 1 players.
Other behaviors that affect the car are not allowed.
Verb (short for verb) others
1. If there is cheating during the competition, cancel the competition results;
2. The right to interpret these Rules belongs to the Competition Secretariat and the Competition Organizing Committee.
Secretariat of the 2nd Freescale Cup National Intelligent Automobile Competition for College Students.
2006, 12, 1
Annex I: Provisions on Intelligent Competition Vehicles
It is forbidden to change the chassis structure, wheel pitch, wheel diameter and tires;
It is forbidden to change the model and transmission ratio of the driving motor;
It is forbidden to reform ball bearings;
It is forbidden to replace the steering gear, but the joint on the output shaft of the steering gear can be replaced;
It is forbidden to replace the drive motor and battery. The main driving force of the car model comes from the DC motor and battery of the car model itself.
Circuits, sensors, etc. Can be installed for car model operation, allowing drilling holes in the chassis or installing auxiliary brackets.
Appendix II: Limitations of Circuit Devices and Control Drive Circuits
The core control module can be the HCS 12 module provided by the Organizing Committee, or the MC9SDG 128 self-made control circuit board, and programmable devices such as auxiliary processors are not allowed except DG 128MCU.
The number of servo motors shall not exceed 3;
The number of sensors shall not exceed 16 (each pair of infrared sensors 1 and CCD sensors 1);
The DC power supply uses the battery provided by the competition;
It is forbidden to use DC-DC boost circuit to provide power for driving motor and steering gear;
The total capacitance shall not exceed 2000 microfarads; The maximum charging voltage of the capacitor shall not exceed 25 volts.
You can select parameters:
You can choose CodeWarrior 3. 1 or choose something else to develop software.
You can choose BDM tools provided by the Secretariat to develop and debug hardware, or you can choose them separately.
Types and quantities of components used in the circuit (sensors, various signal conditioning chips, interface chips, power devices, etc.). ) you can design your own choices.
Annex III: Basic track parameters (excluding the number, location and overall layout of turning points)
The track pavement is made of special white base plate. In the preliminaries, the runway occupied area is not more than 5000mm* 7000mm, and the runway width is not less than 600mm. The runway area can be increased in the final stage. The model of track pavement material will be given on the website.
The surface of the runway is white, with a continuous black line in the middle as the guide line, and the black line is 25mm wide;
The minimum radius of curvature of the runway is not less than 500mm；;
Runways can cross, and intersection angle is 90;
The straight part of the track can have ramps with a slope within 15 degrees, including uphill and downhill.
The track has a starting area with a length of1000 mm. As shown in the following figure, there are black timing starting lines with a length of 100mm on both sides of the timing starting point, and the front end of the racing car takes this starting line as the start or end time of the race timing.