Research On Automatic Parking Simulation Control Based On ADAS Experimental Platform

With the rapid development of the automobile industry,the automatic parking system,as a subsystem of the relatively comprehensive advanced assisted driving system,has played a great role in daily life.Due to large parking during the pilot probability will produce tension,at the same time considering the complexity of the parking Spaces surrounding environment will further increase the tension,increase the difficulty of parking,cannot guarantee safe parking,so automatic parking system can provide great convenience to the driver,in order to continue to improve the convenient,quick and accurate parking Spaces,etc,for automatic parking system study,the automatic parking system has a broad prospect.This paper mainly studies the simulation control of automatic vertical parking based on the ADAS experimental platform.The fuzzy control method and the local path planning algorithm are respectively used to study,and the ADAS experimental platform independently developed is used to verify the automatic vertical parking system.First analyze the vehicle steering,the vehicles in the process of automatic vertical parking meet ackerman steering theorem,automatic parking kinematics model is established on the basis of,deduce the horizontal displacement and vertical displacement in the process of vehicle parking,body direction Angle and front wheel Angle of the relationship of the four,set up automatic parking kinematics model inSimulink,and then according to the vehicle kinematics equation is deduced in the process of automatic parking car rear axle center trajectory,lay the foundation for the subsequent simulation experiment.Using fuzzy control method for automatic vertical parking algorithm research,design a fuzzy logic controller,the fuzzy rules,compiled in Matlab.M language program application for vehicles initial position calculation,coordinate and direction Angle of car body,body position calculation and parking motion simulation,at the same time for different vehicle attitude body direction Angle of the initial research,analysis of simulation results,the conclusion can be ready for subsequent automatic vertical parking controller is designed.Study the local path planning algorithm of automatic vertical parking system,analyzing the difference between the global path planning and local path planning,through the experiment to get the Angle to the front wheel and steering wheel Angle mapping relationship,the implementation of the calculation of the steering wheel Angle,using the local path planning algorithm,the algorithm of the various parameters for operation analysis,design of vehicle controller,control the car in the process of automatic vertical parking state switch,the above content inSimulink.CarSim parameters were set,and CarSim was combined withSimulink to realize co-simulation.The simulation results showed that the established model could be used as the basic model to be verified on the ADAS experimental platform in the next step.ADAS experiment platform can realize advanced auxiliary driving function simulation platform,in order to verify the automatic vertical parking algorithm in ADAS experiment platform application effect,determine the input and output signals,and the signal is connected to the corresponding interface in the model,set up the NI VeriStand interface mapping,implement automatic vertical parking on ADAS experiment platform,with the result of the experiment were analyzed,and improvement measures are proposed as well as the subsequent experiment.