汽车工程
汽車工程
기차공정
AUTOMOTIVE ENGINEERING
2014年
9期
1151-1156
,共6页
驾驶员辅助系统%自动平行泊车%模糊逻辑控制%仿真%实车试验
駕駛員輔助繫統%自動平行泊車%模糊邏輯控製%倣真%實車試驗
가사원보조계통%자동평행박차%모호라집공제%방진%실차시험
driver assistance system%automatic parallel parking%fuzzy logic control%simulation%real ve-hicle test
提出了一种基于模糊逻辑的自动平行泊车控制方法；基于Ackerman转向建立了车辆前轮转向运动学模型，并得到平行车位最小尺寸。将实际平行泊车过程划分为3个阶段，搭建仿真平台进行仿真和试验验证，并绘制真实泊车系统泊车轨迹进行对比分析。结果表明，所提出的控制方法起始位置范围宽，能适应速度的波动。
提齣瞭一種基于模糊邏輯的自動平行泊車控製方法；基于Ackerman轉嚮建立瞭車輛前輪轉嚮運動學模型，併得到平行車位最小呎吋。將實際平行泊車過程劃分為3箇階段，搭建倣真平檯進行倣真和試驗驗證，併繪製真實泊車繫統泊車軌跡進行對比分析。結果錶明，所提齣的控製方法起始位置範圍寬，能適應速度的波動。
제출료일충기우모호라집적자동평행박차공제방법；기우Ackerman전향건립료차량전륜전향운동학모형，병득도평행차위최소척촌。장실제평행박차과정화분위3개계단，탑건방진평태진행방진화시험험증，병회제진실박차계통박차궤적진행대비분석。결과표명，소제출적공제방법기시위치범위관，능괄응속도적파동。
An automatic parallel parking control scheme based on fuzzy logic is proposed, and a steering ki-nematics model for front-wheel is built based on Ackerman steering geometry with the minimal size of parallel park-ing space derived. The practical process of parallel parking is divided into three stages, a simulation platform is con-structed for simulation with its results verified by test, and the parking trajectories of real parking system are plotted for comparative analysis. The results show that the parking control scheme proposed is feasible with wide range of in-itial position and can adapt to speed variation.
