Parallel Parking Path Planning And Tracking Control Based On Adaptive Algorithms

As one of the representative systems in the era of vehicle intelligence,automatic parking system has become the main way for major automobile companies to show their abilities in vehicle intelligence.In view of the existing automatic parking system still has the problem that it can not recognize the irregular parking space,the parking path is not continuous in the parking process and the error is large in the path tracking control process,which can not achieve the high-precision control of the target vehicle.In this paper,an automatic parking system based on adaptive algorithm is proposed to improve the intelligence of the automatic parking system and the resource utilization of irregular parking spaces.First of all,the ultrasonic parking space recognition technology and irregular parking space regularization processing are studied.Based on the analysis of the location error of ultrasonic sensor in the recognition of parking space,the compensation method of horizontal parking space detection is proposed;In view of theexisting parking space recognition and detection system in complex parking space detection problems.In this paper,we design a model to deal with the irregular parking spaces,which can meet the needs of automatic parking,and design the corresponding program model in Simulink software.Secondly,the planning method of adaptive fitting double arc parking trajectory is proposed.Secondly,the planning method of adaptive fitting double arc parking trajectory is proposed.The minimum parking space size and the feasible initial parking position are determined by using the reversibility of parking,simplifying the steering system of the vehicle,establishing the kinematic model of the vehicle,taking the mid point coordinate of the rear axle of the vehicle as the input,obtaining the vehicle contour point information;By analyzing the possible collision and the rationality of vehicle motion in the parking process,the restraint information of parallel parking is determined;An adaptive parking trajectory planning method is proposed,which can meet the requirements of curvature continuity of parking path by fitting the double arc parking trajectory with arctangent function.Thirdly,the parallel parking path tracking control method is studied,and the parking control model of adaptive control strategy is established.Based on the analysis of vehicle dynamics model,the control target of path tracking in parking process is obtained,the corresponding tracking control scheme is proposed,and the adaptive tracking algorithm is designed.At the same time,the algorithm is optimized,the adaptive tracking method of target body angle compensation is proposed,and the compensation adaptive path tracking model of automatic parking system is built.At last,the experiment of parallel parking based on adaptive algorithm is carried out.The adaptive parallel parking system designed in this paper is jointly simulated by Car Sim and Simulink software,and the actual parking simulation is carried out by using the experimental intelligent vehicle.The results which the validity of the parking space recognition processing system,parking trajectory planning system and path tracking system show that the proposed method is correct.