Automatic Parking Study Of Hub Motor Electric Test Vehicle Based On D2P

In the context of the "new four modernization" of automobiles,the degree of car intelligence determines the future of the automotive industry.Intelligent parking technology provides an important means of solving the contradiction between a large number of vehicles and the unreasonable use of parking spaces.Automatic parking systems not only help novice drivers to park their cars efficiently and safely in complex situations and reduce the occurrence of traffic accidents but also improve the intelligence of the vehicle,increase the added value of the car and prepare for autonomous driving technology.This paper investigates the automatic parking of a four-wheel hub motor electric vehicle in a parallel parking space.The vehicle dynamics model and the Ackerman steering model are established for the parking process and the driving speed of the vehicle when parking is determined.On the basis of space identification,parking feasibility analysis and constraint space determination,the automatic parking path is planned according to the relative position of the vehicle and the parking space,and the path tracking is realized using a pure tracking algorithm,and the Carsim and Simulink platforms are used for Joint simulation.The design of the automatic parking system for the four-wheel hub motor electric test vehicle,the design and selection of components such as ultrasonic sensors,steering wheel corner sensors and steering wheel power motor drivers;the use of the D2 P development platform as the vehicle controller to complete the software design of the various functional modules of the automatic parking;the development of a test program,the four-wheel hub motor electric test vehicle for parking space detection,steering wheel corner calibration,automatic The test plan was developed,and the four-wheel hub motor electric test vehicle was tested for parking position detection,steering wheel angle calibration and automatic parking.The simulation and real-world test results show that the automatic parking system of the four-wheel hub motor electric test vehicle can achieve parking space detection and path planning,perform path tracking and complete automatic parking.