基于模糊算法垂直泊车转向控制策略的研究

为提高自动泊车的精度和安全性,分析了垂直泊车的运动特性,以车辆的初始位置及泊车过程中的转向角控制为关键参数,建立了自动垂直泊车的运动模型.在Simulink环境中建立了基于模糊算法的垂直泊车转向控制仿真模型,生成了模糊规则,分析了车辆初始位置、初始角度、初始运动速度对车辆运动轨迹的影响.仿真结果显示,改变初始坐标及初始角度都会影响自动垂直泊车入库效果,确定了一次性顺利入库的最小初始位置,该数值可用来设计最紧凑停车库.该模糊算法控制灵敏且无超调.

Steering Control for Autonomous Vertical Parking Based on Fuzzy Algorithm

In order to improve the precision and security of automatic parking, steering kinematics model was analyzed which initial position and steering-angle control are key factors, and parking steering control simulation model based on fuzzy algorithm was built in Simulink. Fuzzy rule was established. Autonomous vertical parking was simulated. The influence on vehicle trajectory was simulated by the initial position, initial Angle, and initial speed. Simulation shows that changing initial parameters will affect the automatic vertical parking effect. It determines the minimum initial position of the one-time smoothly parking. Simulation shows that fuzzy control algorithm is sensitive and no overshoot.