重庆理工大学学报（自然科学版）2017，Vol.31Issue(2)：14-22,9.DOI:10.3969/j.issn.1674-8425(z).2017.02.003
基于预瞄模糊控制的自动泊车算法研究
Research on the Auto Parking Algorithm Based on the Preview Fuzzy Control
摘要
Abstract
The Sigmoid function was adopted to fit the two section of parking path planning,with the aim to solve the discontinuous problems of automatic parking system.The lateral preview model was established and the path tracking error was estimated.Then the preview fuzzy control algorithm was adopted to track the ideal path.Finally,PreScan virtual simulation environment was established and the information of the parking slots was obtained by ultrasonic sensors.Simulation results demonstrate that the fit coefficient of determination can be over 0.99 between the Sigmoid function and the two-section parking path.Based on the preview fuzzy control,the car can track the planning path successfully and park into parking spaces.关键词
两段式泊车/函数拟合/预瞄模糊控制/PreScanKey words
two-section parking/function fitting/preview fuzzy control/PreScan分类
交通工程引用本文复制引用
熊周兵,杨威,丁可,梁锋华,郑玲,黎予生..基于预瞄模糊控制的自动泊车算法研究[J].重庆理工大学学报（自然科学版）,2017,31(2):14-22,9.基金项目
重庆市自然科学基金重点资助项目(cstc2015jcyjBX0097) （cstc2015jcyjBX0097）
重庆市重点产业共性关键技术创新专项项目(cstc2015zdcy-ztzx30001) （cstc2015zdcy-ztzx30001）
