Research And Implementation Of Fuzzy Control Automatic Vertical Parking System Based On FPGA

Automatic parking is a hotspot in current vehicle intelligent trend, it can detect environ-mental information and move car into parking lot by sensors and controller, avoid driver doing complex and veteran parking operation in narrow parking space, alleviate the parking problem effectively.As vertical parking is common, this thesis studies the fuzzy control strategy of automatic vertical parking system, implements the system using embedded method based on FPGA.Firstly, based on Ackerman steering geometry, establish the kinematics equation of front wheels steer and rear wheels drive as the mathematical theory of parking; and based on ve-hicle parameters and environmental information, calculate feasible initial parking area under arbitrary initial direction angle and collision constraints of parking.Secondly, according expert experience, design one angle-speed double outputs automatic vertical parking fuzzy controller in MATLAB fuzzy toolbox, so the vehicle can not only ad-just steering angle, but also can move forward and backward to adjust body posture when parking fails, complete vertical parking action adaptively. To verify the validity of algorithm, build a model in Simulink, which using animation mode to test the effect of fuzzy controller.Thirdly, as the design of fuzzy controller is subjective and.requires a lot of subsequent debugging, this thesis uses chaos algorithm and genetic algorithm combing optimization strategy to optimize the fuzzy controller’s membership function and some key fuzzy rules. Simulink animation output show, after the fuzzy controller is optimized, parking trajectory is more ideal and parking operation is more concise.Finally, analysis and design the layout of ultrasonic sensors on car body, build automatic vertical parking smart car platform includes perception, decision-making and executive sys-tem; design software flow of parking system, implement optimized fuzzy controller and parking search algorithm using embedded method based on FPGA in Xilinx EDK, test smart car in vertical parking environment and analysis results.Results show the designed fuzzy control automatic vertical parking system can complete vertical parking action smoothly, get good termination posture and achieve good effect.