基于模糊控制的自动泊车轨迹研究及仿真

Simulation and Study of Automatic Parallel Parking Path Based on Fuzzy Control

平行泊车技术对驾驶人员来说是众多驾驶技术中比较难掌握的一种,因为在泊车的过程中,一方面驾驶员的视线会受到一定程度的遮挡,另一方面,在倒车过程中驾驶员既要注意规避车辆后方的障碍物,同时又要注意车的左右两边不能蹭到障碍物,这对驾驶员,尤其是那些驾驶技术并不熟练的驾驶员来说,确实有一定的难度。研究了辅助平行泊车的路径规划问题,引导车辆从设定位置,根据指定的点和线的位置,改变方向盘的转向无碰撞地泊车入位。针对车辆的平行泊车路径规划问题,借助于驾校教练的泊车经验,提出了一种基于模糊控制的三段式的路径规划方法,进一步平滑化了泊车路径。仿真结果验证了该方法的有效性和实用性,为自动泊车路径的规划提供了参考。

Parallel parking skill for driver is difficult to master.Because in the process of parking,the driver＇s line of sight will be blocked by a certain degree.On the other hand,in the process of reversing,the driver should not only pay attention to avoid the obstacles in the rear of the vehicle,and at the same time,attention should be paid to the right and left sides of the car can＇t touch the obstacles.The drivers,especially those unskilled,do have some difficulty. The path planning problem of auxiliary parallel parking is studied,which is to guide the vehicle from the set position,according to the location of specified point and line,turning the steering wheel and parking into the place without collision.With the help of parking experience for the driving coaches,a three-step path planning method is proposed based on fuzzy control,further smoothing the parking path.The simulation results demonstrate the validity and practicality of the proposed method,and provide a reference for the automatic parking path planning.