Research On The Control Method Of Parallel Parking System

The parking space in China becomes more and more serious with the increasing numberof the vehicle, and, actual parking situation is becoming more complex, the drivers alwayscannot make the right parking easily in the narrow parking situation because of their “notgood" driving skills，especially in the parallel parking situation, the vehicle run in theobstacles m’any times because of the drivers careless. However, with the development ofthe path planning and intelligent control technology, the appearance of the Automatic parkingsystem will provide a good solution to the narrow parking problems. The main researchcontents of this paper are as follows:Creating the kinematics model of the vehicle parallel parking, analyzing that model, andthen shows the relationship between the vehicle’s turning radius and steering wheel angle;analyzing the parking rate; studying the factors which affecting the rear axle center path;knowing that the rear wheel track was not influenced by speed through the analysis ofkinematics model, making the steering gear ratio test in order to get the relationship betweenthe Steering wheel angle and the Front wheel angle. Analyzing the feasible parking path,planning the path of the two arcs that can complete the parking function, due to the twocircular trajectory curvature will appear breakpoint at turning points, the paper usescontinuous function curve function instead of two arc tangent track, designed a parkinggeometric path which have good adaptability.For in-depth study of parallel parking technology, in this paper, we analyzed detectionmethods of actual parking space specifically, elaborating controlled strategies of parallelingparking based on two circular path. Based on MATLAB and fuzzy controlled theory, weconstructed fuzzy controlled model of parallel parking based on two circular path, as well asextracting controlled rules of fuzzy controlling based on expert experience and simulatingmodels through MATLAB/Simulink, and then comparing the results of simulation to come topros and cons of two circular path.By combining experimental data of parallel parking system through data acquisitionexperiment and corresponding actual car experiment data, we certified actual value of twocircular path. Through analyzing the error estimates of our experiments, we found parallelparking system based on two circular trajectory proposed by this paper could complete theparking procedure successfully.