基于模糊算法垂直泊车转向控制策略的研究  

Steering Control for Autonomous Vertical Parking Based on Fuzzy Algorithm

作　　者：王友楠[1] 方祖华[1] 孙霙[1] 王康[1] 徐宏兵[1] 

机构地区：[1]上海师范大学信息与机电工程学院,上海200234

出　　处：《上海理工大学学报》2015年第2期155-158,164,共5页Journal of University of Shanghai For Science and Technology

基　　金：上海市地方院校能力建设计划项目(12160503000)

摘　　要：为提高自动泊车的精度和安全性,分析了垂直泊车的运动特性,以车辆的初始位置及泊车过程中的转向角控制为关键参数,建立了自动垂直泊车的运动模型.在Simulink环境中建立了基于模糊算法的垂直泊车转向控制仿真模型,生成了模糊规则,分析了车辆初始位置、初始角度、初始运动速度对车辆运动轨迹的影响.仿真结果显示,改变初始坐标及初始角度都会影响自动垂直泊车入库效果,确定了一次性顺利入库的最小初始位置,该数值可用来设计最紧凑停车库.该模糊算法控制灵敏且无超调.In order to improve the precision and security of autonomous parking, a steering kinematics model was establised, taking the initial position and steering-angle as key control factors,and a parking steering control simulation model based on fuzzy algorithm was built with the help of Simulink. Fuzzy rules were established and the autonomous vertical parking was simulated. The influences of initial position, initial angle, and initial speed on vehicle trajectory were analyzed. The simulation shows that changing initial parameters will affect the autonomous vertical parking effect. The minimum initial position for a one-time smoothly parking was determined. The simulation shows that fuzzy control algorithm is sensitive and of no overshoot.

关 键 词：自动垂直泊车 控制策略 模糊算法 

分 类 号：U462.1[机械工程—车辆工程]