| With the development of lots of large cities and the growing popularity of publicand private vehicles,making the city roads more and more crowded also attraeted muchattention. Of course,there are always vehicle collisions in parking process.In order toavoid a collision when parking,and also improve the ability of active obstacle. It’sparticularly important to use the four-wheel steering technology to develop a automaticparking system.Firstly,the jeep BJ212is a prototype vehicle for a4WS model vehicle,ratio of1:4.the overall structure of the model cars was described, including batteries,motors,thetransmission mechanism, running gears and steering system and so on.Designing andrenovating the4WS model vehicle provide a good platform with for the developmentof automatic parking system.Secondly, the4WS model vehicle to do the study based on vehicle kinematicscharacteristics. Design a differential mechanism model of4WS model vehicle,analysisthe vehicle running in the different speeds and steering angle.Thirdly,the4WS vehicle to do the study based on vehicle kinematicscharacteristics.The two-degree-freedom dynamic model and kinematics model ofautomatic parking system are established,including body yaw motion angle, centroidlateral angle and front-wheel/rear-wheel steering angle.Finally, vertical parking trajectory analysis, pre-determine the vehicle parking areaand the initial position established for the three collision Preventing Collisionsconstraint space, initially identified the geometric dimensions of the parking space.Akinematic model was built for a certain car in SIMULINK to simulate the car back-upenvironment of vertical parking. In terms of fuzzy logic control theory, steeringcontroller was designed, which help the car to complete vertical parking automatically.Then the car controlled by the controller built in SIMULINK finished the back-upcourse of parking satisfactorily.The simulated results verified the feasibility to realizethe vertical parking by the proposed strategy. |
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