Research On Automatic Parking System Based On D2P Development Platform

With the development of economy,the penetration rate of private cars is rising,which makes the parking space more and more tight and the parking environment worse and worse,which brings a severe test to the parking technology of many novice drivers.According to statistics,traffic accidents indirectly caused by parking in China account for about 22%.Although they rarely cause serious accidents,they often cause unnecessary trouble to car owners.The automatic parking system can improve the vehicle’s traffic safety index and reduce the difficulty of reversing.The development of intelligent automatic parking lots to alleviate parking problems has put forward higher requirements for automatic parking system,and it is necessary to study the automatic parking technology.Therefore,automatic parking system has become a research hotspot of automobile enterprises and universities,which is of great significance to its research.In this paper,the four-wheel hub electric test vehicle is used as the test platform to study the automatic parking under parallel parking spaces.The kinematics model is established for the parking process,the parking path is determined according to the model analysis and the structural characteristics of the test vehicle,and the automatic parking control strategy is formulated.Based on the control strategy,the overall scheme design of the automatic parking system is carried out,and the selection of sensors,actuators and vehicle controllers is determined.The ultrasonic sensor is used as the parking spot detection sensor to detect the effective parking space and determine the vehicle posture.EPS power-assisted motor and H-bridge driver are used to control the automatic steering of the vehicle.The closed-loop control of the steering wheel is realized by using the steering wheel Angle sensor to perceive the angle information.CAN bus is used to realize the communication between the whole vehicle controller and the hub motor controller,so as to control the speed of the hub motor and realize the speed regulation.The development board based on the D2 P development platform was selected as the vehicle controller,and the automatic parking system control program was written in the Simulink/Motohawk software environment to complete the software design.Design the test scheme to carry out the actual vehicle test,and analyze the test results.The test results show that the automatic parking system can realize the design function in the test vehicle.