Automatic Parking System Modeling And Control Strategy Research

Along with the surge in car ownership,parking space within the city already cannot satisfy people's needs,the deteriorating environment of parking parking for drivers have brought huge challenge,because of this automatic parking system arises at the historic moment,automatic parking technology become one of hot topics in the study of modern intelligent vehicles,automatic parking system and related technology research is of great significance.This article adopts the research method of combining theory and simulation in parallel parking as the research object,the research of automatic parking system to carry out a lot and effective work,the automatic parking structure,working principle and model of the automatic parking system in-depth analysis and research,Design a parking control strategy,at the same time,create a virtual vehicle dynamics model,and verify the effectiveness of this strategy.This paper mainly completed the following work:First of all,For automatic parking system structure,working principle,theoretical research on parking process,automatic parking system of steering model is set up,and the extension of steering model,through the analysis of the steering system structure,the steering wheel Angle and the Angle between the wheel transmission ratio is deduced,based on the principle of ackerman steering,turning radius and the corresponding relation of the steering wheel Angle.Second,the front wheel steering kinematics model is established,using the mathematical formula is deduced and geometry relations among low-speed parking steering motion differential equation.Finally,based on the process of parallel parking,the establishment of mathematical model of parallel parking path.Then,According to the kinematic differential equation and mathematical model of parking path based on variable universe fuzzy control,design a kind of parking control strategy,and in the MATLAB/Simulink create simulation model of steering movement and parking in the MATLAB environment simulation process of parallel parking,the simulation results show that the vehicle can be successfully into the parking place.Secondly,in the Car module of ADAMS/Car is created in the virtual vehicle dynamics model,in the process of parking,the static characteristics of tires,steady turning performance of vehicle,and vehicle trajectory simulation,verify the correctness of the model.Finally,According to working condition of parking,will be built in the module of ADAMS/Car virtual vehicle physical model and control model is established in the MATLAB/Simulink together,create a joint simulation model,the effectiveness of the simulation results show that the parking policy.