Research On Path Planning And Tracking Of Automatic Parking System Based On EPS

Automatic parking system is an important part of Advanced Driver Assistant System(ADAS),it can greatly reduce the burden of the driver,reduce parking time and increase the comfort and safety during the parking process.Automatic parking system can accelerate the development of intelligent and intelligent connected vehicles,which has huge market prospect and economic benefit.First of all,the working principle,structure and key technology of the automatic parking system are studied furtherly,the kinematics constraints and part of dynamics of APS are considered,so as to analyse and establish the model of APS.Then,automatic parking fuzzy controller based on fuzzy logic is designed and it's effectiveness is verified by simulation;on the basis of the principle of ultrasonic detection and vehicle geometry motion,potential collision of parallel and vertical parking are analysed,the vehicle kinematics and part of the dynamic constraints is considered,making simulation analysis and comparison for a variety of parallel and vertical parking path planning methods.Choose "arc-line-arc" path,double step adjustment strategy and backward vertical parking as the path planning control strategy of the automatic parking system we developed ourselves.In addition,a research is taken on APS based on EPS which is used as the steering actuator,then the dynamic model of APS based on EPS is established,arctangent function which fits path-planning of two arcs and a non-time reference path tracking control strategy are used,and ADRC algorithm is proposed to track the target angle.Finally,on the experiment platform of SUV,sensors used for automatic parking system are selected and matched,a taotal plan of automatic parking system is put forward;then performing a research on automatic steering control,transfering the automatic parking zoning,path planning and path tracking strategy into the C language that controller can handle based on MC9S12X128 chip and completing the program design of the automatic parking software;In addition,Completing the design of automatic parking controller hardware,perform a large number of real vehicle test and the results show that car parks successfully at a high rate and has high reliability,which verifys the effectiveness and accuracy of the path planning and tracking.