基于四轮转向的自动垂直泊车转向控制器  

Design of Automatic Vertical Steering Parking Controller Based on Four-Wheel Steering

作　　者：王华磊[1] 杨志刚[1] 胡家奇[1] 俞思维[1] 

机构地区：[1]重庆交通大学机电与汽车工程学院,重庆400074

出　　处：《重庆理工大学学报（自然科学）》2013年第5期16-20,39,共6页Journal of Chongqing University of Technology：Natural Science

摘　　要：通过分析四轮转向汽车在低速倒车过程中的运动学特性,运用几何算法估算该汽车垂直泊车的车位尺寸;在SIMULINK中搭建汽车的运动学模型并模拟自动垂直泊车的倒车环境模型;从总结专业驾驶员的泊车经验出发,结合模糊控制理论设计了自动垂直泊车转向控制器,并将转向控制器引入SIMULINK建立的系统中模拟垂直泊车过程;最后仿真验证了该垂直泊车策略的可行性。According to the analysis of the four-wheel steering vehicle in the low-speed back-up process, geometric algorithm was used to estimate the car parking space size. A kinematic model was built for a certain car in SIMULINK to simulate the car back-up environment of vertical parking. In terms of fuzzy logic control theory, steering controller was designed, which help the ear to complete vertical parking automatically. Then the car controlled by the controller built in SIMULINK finished the back-up course of parking satisfactorily. The simulated results verified the feasibility to realize the vertical parking by the proposed strategy.

关 键 词：四轮转向 垂直自动泊车 模糊控制理论 

分 类 号：U463[机械工程—车辆工程]