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Research On Automatic Parallel Parking Path Planning And Tracking Control

Posted on:2020-10-17Degree:MasterType:Thesis
Country:ChinaCandidate:W H DuFull Text:PDF
GTID:2392330599453068Subject:Vehicle engineering
Abstract/Summary:PDF Full Text Request
With the increasingly rich life of the people,the car as a means of transport has also appeared in more and more families.With the gradual increase of car ownership,there will naturally be fewer and fewer the number of parking space and smaller and smaller parking space.The parking assistance system plays an increasingly important role in the system of automobile assisted driving.In this paper,a passenger car model of Chang 'an is taken as the research object.Based on ultrasonic radar,the parking detection algorithm is studied,and multiple path planning strategies are designed.In addition,the path tracking controller is designed based on the preview model,and the simulation model of the whole parallel parking assistance system is built.Firstly,the parallel parking environment was built based on PreScan.The ultrasonic radar's parameters,installation position and angle of the ultrasonic radar were calculated according to the parking space detecting requirements.The detection methods of parking space based on ultrasonic radar were studied.The method of three kinks of daily parking space detection was analyzed.The error compensation is designed to improve the detection accuracy.Then,three parallel parking planning strategies are studied in depth,and the characteristics of the three parking planning strategies are discussed.The real contour of the vehicle is considered in the simulation level,and the four corners of the vehicle are rounded.Then,based on the rounded corner processing,the design of the collision avoidance constraint can make more accurate and reasonable use of the garage space and improve the practicability of the path.The parameters of the conditions for judging the success of trajectory planning are established,and through this condition,the limit parking conditions of three parking path planning strategies are explored.By comparing under multiple conditions of three kinds of path planning strategy,the simulation results of parameters,it can be seen that the arc,such as path planning and arc path planning strategy has a smaller size limit parking Spaces and greater extreme lateral distance,and through joint CarSim and Simulink simulation,path planning strategy have found five stages due to meet the requirements of curvature continuity,path tracking difficulty.Secondly,the low speed cases of lateral control method are discussed,based on the aim model,the design of PID control algorithm,simulation control error is found that the need to be further optimized,and then analyzes the parking path,feedforward and feedback combined with PID control method is put forward,aiming at different path design of feedforward model,the control method is more condition of simulation,compared with pure PID control,found that the optimized control method can improve the control performance and robustness.Finally,the HMI of the parking assistance system is established through Matlab/Simulink.Based on the above studies on parking slot detection,vehicle positioning,path planning and path tracking control,the entire automatic parking system was built.
Keywords/Search Tags:Collision Avoidance Optimization, Path Planning, Curvature Continuity, Path Tracking, Preview Control
PDF Full Text Request
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