自动平行泊车系统转向控制策略的研究
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摘要
目前,人们生活水平的提高,使得汽车拥有量大幅增加,致使城市各处停车场所拥挤不堪,导致汽车的转动空间越来越小,倒车问题日益显著。为了解决这一难题,自动泊车系统成为目前汽车行业最为热门的研究课题之一。
本文的主旨是在尽量小的停车空间内,找到比较好的泊车转向控制策略。首先采用多年来对倒车问题的解决已经相对成熟的模糊控制技术来解决平行泊车的控制问题,分析其不足,并采用两种方案来解决其不足之处。本文分析了汽车在低速倒车过程中的运动学特性以及汽车低速下的转向特性,以此为基础设计自动平行泊车的两圆弧相切的倒车轨迹;根据极限转弯特性估算目标车辆平行泊车停车空间范围;分析汽车在平行泊车过程中,汽车与停车位的可能性碰撞,确定停车位的大小,规划汽车可以成功泊车的所有的倒车轨迹,制定相应的平行泊车倒车控制策略;同时以倒车规范的许可范围内的不同速度倒车,根据车身顶点的碰撞修正最小停车空间;采用连续曲线逼近原两圆弧相切的轨迹,弥补转向盘转角突变的问题;为更好的分析汽车平行泊车时的倒车规律及其特点,做平行泊车实验,采集平行泊车数据,对其进行分析处理,减少运算量及出错率;最后基于自适应神经网络对实验数据推理分析提取平行泊车的模糊推理系统;针对两种控制策略,在MATLAB/simulink下建立的倒车环境中进行泊车仿真实验,比较两种控制策略的优缺点,证明了两种策略的泊车的可行性、合理性。
Increasingly tight parking spaces in urban, a driver should have the necessary skills making the car into a small space. But for most of the drivers, parking is a very complicated and painful things, even if general parallel parking spaces and back-up storage, etc. Many scholars and experts research into automatic parking system, which could reduce the burden of the driver's and provide a relaxing and comfortable environment. Automatic parking system can make a car park into parking space automatically and accurately.
To make a car of domestic A0 Class as object, this paper researches the vehicle steering control algorithm, used to horizontal line-up parking and on-street docked parking which are called parallel parking.
First of all, this paper introduces prospects and situation of home and abroad simply and describes the topics background of academic and application, and gives the main content.
Secondly, this paper analyzes the factors of reversing speed and estimates the scope of reversing speed. Analysis of the vehicle kinematic characteristics during reversing, because the reversing is a low speed process, suppose the tires don’t occur sideslip during the back-up course, thereby this paper builds a back-up kinematic model of vehicle. Analysis of reverse model, the reversing trajectory of rear wheel depends on wheelbase, tread and he Ackerman steering angle, has nothing with reversing velocity. This paper has done a set of low-speed reverse circular motion test of the target vehicle to verify rationality of the back-up kinematic model. According to the Ackerman steering principle, this paper analyzes the steering characteristic and transmission ratio experiment of the car of domestic A0 Class at a low speed reversing and build a model of steering system. The connection of wheel steering angle and Ackerman steering angle can be regarded as linear.
Next,based on fuzzy logic control theory, analysis of the trajectory of parallel parking as well as the possibility of reversing collision, summary steering wheel rotation law of the skilled driver, this paper designed a simple fuzzy controller, which has the ratio of horizontal-vertical coordinates of ground point of rear tires and length and width of parking spaces, heading angle as control variables. The fuzzy rules is acquired simply from subjective driving laws of parallel parking, although the car under the controller can complement parallel parking better and the controller have good adaptability of the size of parking spaces. The controller doesn’t consider objective condition, so its application isn’t good, the rotating speed of steering wheel angle is too fast, and the back-up starting area isn’t determined.
In this paper, two main approaches-path planning and adaptive neural network system have been used to improve p reviouscontrol strategy.
In view of the vehicle kinematic characteristics when reversing, this paper preliminarily estimates the size of parallel parking space which can make the domestic A0 Class car complete parallel parking based on limit turning radius of the car, and plans a trajectory which consists of 2-arcs-tangent, Analysis of the possibility collision between vehicle body and parallel parking space, between body and some barrier in the 2-dimensional coordinate system of parallel parking which has been built in the paper, based on reversing trajectory of 2-arcs-tangent curve, this paper acquires minimum size of parking spaces, minimum size is within the range of the space size which has been acquired from limit turning radius, so the minimum size is reasonable. According to collision-free, a number of trajectory has been identified and reversing strategy is determined. According to the 2-arcs-tangent reversing path and the range of trajectory, the starting area is been determined, from where the car can complete the parking course. According to collision of body peak when the car has been reversing with various speeds of the limits permitted, the parking space is modified to solve the problem of velocity fluctuation in the back-up course. The rate of steering wheel angle has a big change when tracking the two-arcs-tangent trajectory, which make the complement of parallel parking more difficult. The arctangent continuous function is selected to fit the original trajectory, which make the rate of steering wheel angle continuously. At the same time to reduce approximation errors as a result of the curve characteristics, steering wheel angle in the later of parking course is improved, which solve the problem of failure parking because of straighten body unsuccessfully, when the car is tracking arctangent trajectory in the later of parking.
In order to acquaint reversing features and operation feature of parallel parking better, this paper has collected two sets of back-up experimental data with data acquisition system which has been developed independently. The first set of experimental data is acquired from the uniform circular reversing motion; in this experiment the driver give a fixed steering wheel angle when driving the car with data acquisition system. The second experiment is introduced following; a skilled driver has driving the experimental vehicle to finish a series of parallel parking in a general space or in a tight spaces. This paper deals with the experimental data to get better fuzzy rules.In order to improve the fuzzy controller designed by subjective recognize, based on Adaptive-network-based Fuzzy Inference System (ANFIS), the experiment data has been analyzed to build fuzzy controller of the general space and tight space. According to the data, the starting area can be determined. the fuzzy logic comes from the analysis of the data from the actual driving, so it meets the basic requirements of actual parking. Then this paper also describes the advantages and disadvantages of fuzzy control and path planning.
This paper builds parking experimental and reverse model in Matlab/simulink and put the control strategies based on path parking and fuzzy logic into the reversing system built in Matlab/simulink. From the result of simulation, when the car reverses from the starting area, the car under the control of the strategies could park into the space with velocity less then 5km/h. The simulation has confirmed enforceability effectiveness inclusive of the velocity fluctuation of the controller strategies. In terms of the controller strategy based on path-parking, when it make the 2-arcs-tangent curve as the reversing path, the minimum size of the parking space is (6×2.4);When tracking the 2-arcs-tangent trajectory, the steering wheel angle’s value occurs a big jump, which make the control operations implemented more difficultly. When tracking the arctangent trajectory through turning steering wheel, the minimum size of the parking space is (6 . 5×2.5).The good or bad of the control strategy based on fuzzy logic largely depends on driving skills, proficiency and fatigue of driver. Flexibility and adaptability of the control strategy based on fuzzy logic is better than the path-parking’s.
At last, this paper summarizes main content of the full text and points out research direction and focus of this topic for future.
This paper studies the algorithm of automatic parallel-parking steering control of the domestic A0 Class car from practical problems, major innovations are as follows:
This paper estimates the size of parallel parking space based on the limit turning radius of the domestic A0 Class car.
Based on reversing characteristics, this paper plans a 2-arcs-tangent curve as reversing trajectory. Analysis of the possibility collision, it determines the reversing staring area and solves the problem of velocity fluctuations during reversing, depending on the different speed to correct parking space.
The continuous function of arctangent curve is used to fit the original 2-arcs-tangent curve, which solves the problem like steering wheel angle’s change and rotating speed is too big and fast. Late in the reverse, the original steering wheel angle is improved by increased by small values time and time again to adjust heading angle of the body, which make the steering wheel angle’s change rate moderate.
This paper summarizes subjective experience of a skilled driver to refine fuzzy rules, which solves the parallel parking’s reversing of a real vehicle.Based on ANFIS, this paper refines the fuzzy logic of parallel parking from the reversing experimental data,then acquires the steering controller of automatic parallel parking.
本文的主旨是在尽量小的停车空间内,找到比较好的泊车转向控制策略。首先采用多年来对倒车问题的解决已经相对成熟的模糊控制技术来解决平行泊车的控制问题,分析其不足,并采用两种方案来解决其不足之处。本文分析了汽车在低速倒车过程中的运动学特性以及汽车低速下的转向特性,以此为基础设计自动平行泊车的两圆弧相切的倒车轨迹;根据极限转弯特性估算目标车辆平行泊车停车空间范围;分析汽车在平行泊车过程中,汽车与停车位的可能性碰撞,确定停车位的大小,规划汽车可以成功泊车的所有的倒车轨迹,制定相应的平行泊车倒车控制策略;同时以倒车规范的许可范围内的不同速度倒车,根据车身顶点的碰撞修正最小停车空间;采用连续曲线逼近原两圆弧相切的轨迹,弥补转向盘转角突变的问题;为更好的分析汽车平行泊车时的倒车规律及其特点,做平行泊车实验,采集平行泊车数据,对其进行分析处理,减少运算量及出错率;最后基于自适应神经网络对实验数据推理分析提取平行泊车的模糊推理系统;针对两种控制策略,在MATLAB/simulink下建立的倒车环境中进行泊车仿真实验,比较两种控制策略的优缺点,证明了两种策略的泊车的可行性、合理性。
Increasingly tight parking spaces in urban, a driver should have the necessary skills making the car into a small space. But for most of the drivers, parking is a very complicated and painful things, even if general parallel parking spaces and back-up storage, etc. Many scholars and experts research into automatic parking system, which could reduce the burden of the driver's and provide a relaxing and comfortable environment. Automatic parking system can make a car park into parking space automatically and accurately.
To make a car of domestic A0 Class as object, this paper researches the vehicle steering control algorithm, used to horizontal line-up parking and on-street docked parking which are called parallel parking.
First of all, this paper introduces prospects and situation of home and abroad simply and describes the topics background of academic and application, and gives the main content.
Secondly, this paper analyzes the factors of reversing speed and estimates the scope of reversing speed. Analysis of the vehicle kinematic characteristics during reversing, because the reversing is a low speed process, suppose the tires don’t occur sideslip during the back-up course, thereby this paper builds a back-up kinematic model of vehicle. Analysis of reverse model, the reversing trajectory of rear wheel depends on wheelbase, tread and he Ackerman steering angle, has nothing with reversing velocity. This paper has done a set of low-speed reverse circular motion test of the target vehicle to verify rationality of the back-up kinematic model. According to the Ackerman steering principle, this paper analyzes the steering characteristic and transmission ratio experiment of the car of domestic A0 Class at a low speed reversing and build a model of steering system. The connection of wheel steering angle and Ackerman steering angle can be regarded as linear.
Next,based on fuzzy logic control theory, analysis of the trajectory of parallel parking as well as the possibility of reversing collision, summary steering wheel rotation law of the skilled driver, this paper designed a simple fuzzy controller, which has the ratio of horizontal-vertical coordinates of ground point of rear tires and length and width of parking spaces, heading angle as control variables. The fuzzy rules is acquired simply from subjective driving laws of parallel parking, although the car under the controller can complement parallel parking better and the controller have good adaptability of the size of parking spaces. The controller doesn’t consider objective condition, so its application isn’t good, the rotating speed of steering wheel angle is too fast, and the back-up starting area isn’t determined.
In this paper, two main approaches-path planning and adaptive neural network system have been used to improve p reviouscontrol strategy.
In view of the vehicle kinematic characteristics when reversing, this paper preliminarily estimates the size of parallel parking space which can make the domestic A0 Class car complete parallel parking based on limit turning radius of the car, and plans a trajectory which consists of 2-arcs-tangent, Analysis of the possibility collision between vehicle body and parallel parking space, between body and some barrier in the 2-dimensional coordinate system of parallel parking which has been built in the paper, based on reversing trajectory of 2-arcs-tangent curve, this paper acquires minimum size of parking spaces, minimum size is within the range of the space size which has been acquired from limit turning radius, so the minimum size is reasonable. According to collision-free, a number of trajectory has been identified and reversing strategy is determined. According to the 2-arcs-tangent reversing path and the range of trajectory, the starting area is been determined, from where the car can complete the parking course. According to collision of body peak when the car has been reversing with various speeds of the limits permitted, the parking space is modified to solve the problem of velocity fluctuation in the back-up course. The rate of steering wheel angle has a big change when tracking the two-arcs-tangent trajectory, which make the complement of parallel parking more difficult. The arctangent continuous function is selected to fit the original trajectory, which make the rate of steering wheel angle continuously. At the same time to reduce approximation errors as a result of the curve characteristics, steering wheel angle in the later of parking course is improved, which solve the problem of failure parking because of straighten body unsuccessfully, when the car is tracking arctangent trajectory in the later of parking.
In order to acquaint reversing features and operation feature of parallel parking better, this paper has collected two sets of back-up experimental data with data acquisition system which has been developed independently. The first set of experimental data is acquired from the uniform circular reversing motion; in this experiment the driver give a fixed steering wheel angle when driving the car with data acquisition system. The second experiment is introduced following; a skilled driver has driving the experimental vehicle to finish a series of parallel parking in a general space or in a tight spaces. This paper deals with the experimental data to get better fuzzy rules.In order to improve the fuzzy controller designed by subjective recognize, based on Adaptive-network-based Fuzzy Inference System (ANFIS), the experiment data has been analyzed to build fuzzy controller of the general space and tight space. According to the data, the starting area can be determined. the fuzzy logic comes from the analysis of the data from the actual driving, so it meets the basic requirements of actual parking. Then this paper also describes the advantages and disadvantages of fuzzy control and path planning.
This paper builds parking experimental and reverse model in Matlab/simulink and put the control strategies based on path parking and fuzzy logic into the reversing system built in Matlab/simulink. From the result of simulation, when the car reverses from the starting area, the car under the control of the strategies could park into the space with velocity less then 5km/h. The simulation has confirmed enforceability effectiveness inclusive of the velocity fluctuation of the controller strategies. In terms of the controller strategy based on path-parking, when it make the 2-arcs-tangent curve as the reversing path, the minimum size of the parking space is (6×2.4);When tracking the 2-arcs-tangent trajectory, the steering wheel angle’s value occurs a big jump, which make the control operations implemented more difficultly. When tracking the arctangent trajectory through turning steering wheel, the minimum size of the parking space is (6 . 5×2.5).The good or bad of the control strategy based on fuzzy logic largely depends on driving skills, proficiency and fatigue of driver. Flexibility and adaptability of the control strategy based on fuzzy logic is better than the path-parking’s.
At last, this paper summarizes main content of the full text and points out research direction and focus of this topic for future.
This paper studies the algorithm of automatic parallel-parking steering control of the domestic A0 Class car from practical problems, major innovations are as follows:
This paper estimates the size of parallel parking space based on the limit turning radius of the domestic A0 Class car.
Based on reversing characteristics, this paper plans a 2-arcs-tangent curve as reversing trajectory. Analysis of the possibility collision, it determines the reversing staring area and solves the problem of velocity fluctuations during reversing, depending on the different speed to correct parking space.
The continuous function of arctangent curve is used to fit the original 2-arcs-tangent curve, which solves the problem like steering wheel angle’s change and rotating speed is too big and fast. Late in the reverse, the original steering wheel angle is improved by increased by small values time and time again to adjust heading angle of the body, which make the steering wheel angle’s change rate moderate.
This paper summarizes subjective experience of a skilled driver to refine fuzzy rules, which solves the parallel parking’s reversing of a real vehicle.Based on ANFIS, this paper refines the fuzzy logic of parallel parking from the reversing experimental data,then acquires the steering controller of automatic parallel parking.
引文
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