基于激光雷达的自动泊车系统

An Automatic Parking System Based on Laser Radar

自动泊车的任务复杂且精度要求较高,为此设计了基于激光雷达的自动泊车系统,主要通过高精度的激光雷达进行车位检测和车辆定位。泊车过程为先通过车身姿态的预调整,来更精确地检测车位,再进行安全易控的路径规划,最后通过前馈反馈控制进行路径跟随。仿真结果证明该泊车方法精度高,系统稳定可行。

Automatic parking is a complicated process and needs a high degree of accuracy. In this paper an automatic parking system based on laser radar is designed, while the high accuracy scanning laser radar is used for parking lot detection and self localization. The parking process includes： preliminary adjustment of the vehicle＇s pose to make the detection more accurate, designing a safe and achievable path, and finally following the path using both feedforward and feedback control method. The feasibility and high accuracy of the system is verified by simulation result and real test.