自动泊车系统模型研究与实车验证

Automatic parking system modeling and verifying

在自动泊车系统开发过程中,各功能模块相对独立且搭建复杂。为了更好地解决自动泊车系统各功能模块算法的开发及验证,研究建立了自动泊车系统模型与仿真环境。分析了自动泊车系统原理架构,确定了自动泊车系统模型组成。结合自动泊车系统泊车过程中的车辆参数和环境参数,对系统模型进行了动态仿真,根据仿真数据在实车上进行测试验证,在相同的泊车环境下对仿真系统与实车系统泊车过程中关键点进行测量。对比数据结果表明,车辆方向盘转向角度相对误差在1.1%以内,轨迹控制横向距离相对误差在3.3%以内,纵向距离相对误差在2.1%以内。该设计的自动泊车系统不仅能良好地完成自动泊车,而且可以用于系统各功能模块算法的开发与验证,进一步提高了自动泊车系统的性能。

In order to develop the automatic parking system, the model of automatic parking system is created. Firstly, the principles of architecture of automatic parking system are analyzed and the formulation of the model of automatic parking system is confirmed. Secondly, Simulation model is set up combined with the vehicle and environment parameters in the automatic parking system parking process. Thirdly, dynamic simulation of the system model is carried on. Finally, according to the simulation data, it is tested and validated in the real vehicle. By measuring the turn key points in parking process on the same parking environment for the simulation systems and real vehicle systems, it can be known the relative error of vehicle steering wheel angle is less than 1.1% , the relative error of trajectory control lateral distance is less than 3.3% and the relative error of longitudinal distance is less than 2.1%. In summary, the constructed model of automatic parking system in this paper is effective.