基于CarSim的垂直泊车系统仿真研究

Simulation research of vertical parking system based on CarSim

为有效辅助驾驶员泊车,提高泊车的安全性,采用联合仿真的方法对车辆垂直泊车进行研究。首先建立汽车自动泊车时的运动模型,采用多项式曲线进行路径规划,然后设计模型预测算法对规划路径进行跟踪,保证车辆按照设定路径进行泊车,最后采用CarSim和MATLAB/Simulink进行联合仿真,验证泊车效果。仿真结果显示,路径规划及其跟踪效果可以满足泊车需求。

To effectively assist the driver in parking and improve the safety during parking,the method of joint simulation is used to simulate the vertical parking of vehicles.Firstly,the motion model of the car when parking is established,and the path planning is carried out using polynomial curves,build a model prediction algorithm to track the planned path,and ensure that vehicles park according to the set path.Finally,CarSim and MATLAB/Simulink software are used for joint simulation to verify the parking effect of the vehicle.The simulation results show that the planned path and the tracking effect of the path meet the parking requirements.