Study On Key Technologies Of Automatic Parking Systems

With the increase of private cars in the city,lack of parking spaces,on-street parking in the number of cars is increasing.Parking bad environment for parking inexperienced novice driver,prone to accidents parking,automatic parking technology therefore become a hot research question and unmanned intelligent transportation technology.This paper relies on automatic parking technology research,the parallel parking at the small parking length how automatic parking,propose solutions based on multiple parallel parking path planning an ultrasonic sensor array.At smaller parallel parking,the parking is often not a direct parallel can secure parking into place.Through the study of actual parallel parking,the proposed method uses multiple parking parking solutions.After parking the vehicle in a suitable heading into the parking spaces in a parking space within moving slowly back and forth,and finally to the final parking position,the complete wave car.Many parallel parking path planning is through the analysis of multiple vehicle parking and storage status in the movement of moving multiple spaces.With reference to the length of parking spaces to build a parking space,the vehicle in a parking space complete the movement,and then use the results and parking constraints in turn verify the reasonableness of the storage conditions.Parking frequency obtained through Matlab computing,storage condition,the relationship between storage and parking radius length to obtain multiple vehicle parking and storage relationships radius length of parking spaces,parking path planning based on the shortest path analysis angle of rotation Parking on the path parameters to determine the appropriate path angle of rotation.Calculate the length of parking spaces and the slope of the line fit formula to obtain the slope of the line,and then determine the starting point of parking,parking change radius,planning a complete parking path.Automotive low speed kinematic model already proposed,but at a low speed,the model applied to the parking is appropriate.I passed on the model at low speed parking was simulink simulation,the simulation results will be compared with the actual displacement parking we found error is less than 3%,thus proving that low-speed vehicles kinematic model chosen is suitable for the actual situation of parking.I also use Matlab,carsim co-simulation to verify the gap several parallel parking path planning and the actual parking path,obtained error is less than 3.3%,more suitable parking path planning in the case of small parking spaces.Automatic parallel parking in the parking spaces in the parking in the process of measurement and avoidance need a suitable ultrasonic array.The ultrasonic array of parking spaces is usually composed of 12 combinations of ultrasonic waves,which cooperate with each other to complete automatic parking.In this paper,the number of the ultrasonic array,the installation location,regional early warning,transmit timing analysis,can be measured with a parking to the obstacle position and distance information,and design appropriate ultrasonic array,secure parking process.By building an ultrasonic sensor array experimental verification platform,the development of ultrasonic detection range of the sensor array can be up to 5 m;minimum detection range of up to 0.06 meters can detect all kinds of obstacles flat,cylindrical,along the road and the like.Test interface can be visualized obstacle distance and position.