基于邻域系统控制的智能车倒车入库算法

A Control Method for Intelligent Car Parking Based on Neighborhood System

利用邻域系统控制理论,将宏观复杂环境下的倒车动态决策与控制过程,分解为微观上一系列简单邻域内的静态决策与控制过程,给出了初始标准位置相对应的标准控制规则序列。从理论上指出车辆动态过程可以视为一个单调惯性系统,利用该系统性质给出了基于标准规则序列的倒车入库综合算法。针对具有代表性的不同位置对倒车过程进行了仿真,结果表明,该方法计算简便并可有效的实现自动倒车入库。

Based on neighborhood system control theory, a decision-making and control process for reverse parking, which is dynamic and complex from a macroscopic point of view, is decomposed into a series of static and simple ones from a microscopic point of view. Sequences of control rules for the initial standard positions of the vehicle are presented. It is theoretically pointed out that dynamic parking process can be regarded as a monotone inertial system. By using of the features of the monotone inertial system, a synthesized algorithm is suggested based on the standard rules. Parking processes for several typical positions are simulated with Matlab. Simulation results show that the method is simple and effective for an intelligent car backing into a parking lot.