基于预瞄模糊控制的自动泊车算法研究
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- 英文论文题名：Research on the Auto Parking Algorithm Based on the Preview Fuzzy Control
- 论文作者：杨威 ; 郑玲 ; 任玥 ; 王科 ; 李以农 ; 黎予生 ; 张强 ; 熊周兵
- 英文论文作者：Yang Wei ; Zheng Ling ; Ren Yue ; Wang Ke ; Li Yinong ; Li Yusheng ; Zhang Qiang ; Xiong Zhoubing ; Academy of Automotive engineering ; State Key Lab.of Mechanical Transmission ; Chongqing University ; Changan Auto Global R&D Centre ; Changan Automobile Co Ltd
- 年：2016
- 作者机构：重庆大学汽车工程学院机械传动国家重点实验室;重庆长安汽车工程研究院;
- 论文关键词：两段式泊车 ; 函数拟合 ; 预瞄模糊控制 ; PreScan
- 英文论文关键词：two-section parking ; Sigmoid function ; function fitting ; preview fuzzy control ; PreScan
- 会议召开时间：2016-10-26
- 会议录名称：2016中国汽车工程学会年会论文集
- 英文会议录名称：Proceedings of 2016 SAE-China Congress
- 语种：中文
- 分类号：U463.6
- 学会代码：QCGC
- 会议名称：2016中国汽车工程学会年会暨展览会
- 会议地点：中国上海
- 主办单位：中国汽车工程学会
- 学会名称：中国汽车工程学会
- 页数：7
- 文件大小：1650k
- 原文格式：O
- 会议级别：全国
摘要
针对目前自动泊车系统转向不连续问题,本文基于两段式泊车路径规划,采用Sigmoid函数对两段式泊车路径进行函数拟合;建立了横向预瞄模型,对路径追踪误差进行估计,采用模糊控制方法,对拟合后的理想路径进行追踪;搭建了PreScan虚拟仿真环境,通过超声波传感器获取车位信息,对提出的基于预瞄模糊控制的自动泊车算法进行了仿真验证。仿真结果表明,Sigmoid函数对两段式泊车路径的拟合决定系数可达0.99以上,采用基于预瞄模糊控制的自动泊车算法,汽车能够很好追踪规划的路径,并成功泊入预定车位。
Aiming at the automatic parking system to discontinuous problems,the Sigmoid function is adopted to fit the two section parking path.The transverse preview model is established and the path tracking error is estimated.Then the preview fuzzy control algorithm is adopted to track the ideal path.Finally,PreScan virtual simulation environment is established and the information of parking spaces is obtained by ultrasonic sensors.Research results show that the coefficient of determination can reach over 0.99 between the Sigmoid function and the two- section parking path.Based on the preview fuzzy control,the car can track the planning path successfully and park into parking spaces.
Aiming at the automatic parking system to discontinuous problems,the Sigmoid function is adopted to fit the two section parking path.The transverse preview model is established and the path tracking error is estimated.Then the preview fuzzy control algorithm is adopted to track the ideal path.Finally,PreScan virtual simulation environment is established and the information of parking spaces is obtained by ultrasonic sensors.Research results show that the coefficient of determination can reach over 0.99 between the Sigmoid function and the two- section parking path.Based on the preview fuzzy control,the car can track the planning path successfully and park into parking spaces.
引文
[1]郭孔辉.姜辉.张建伟.丁海涛.基于模糊逻辑的自动平行泊车转向控制器[J].吉林大学学报.2009.9(39)2:236-240.
[2]Paromtchik I.E.,Laugier C.Autonomous Parallel Parking and Returning to Traffic Maneuvers[C].Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems.Grenoble,France,1997,3:21-23.
[3]李红,郭孔辉,宋晓琳,李飞龙.基于Matlab的多约束自动平行泊车轨迹规划[J].中南大学学报.2013.1(44)1:101-107.
[4]ZHAO Y N,COLLINS E G.Robust automatic parallel parking in tightspaces via fuzzy logic[J].Robotics and Autonomous Systems,2005,5(51):111-127.
[5]Chang S J,Li J.Design and implementation of fuzzy parallel parking control for a car-type mobile robot[J].Journal of Intelligent&Robotic System,2004,34(2):175-180.
[6]吴冰,钱立军,虞明,吴坚.基于RBF神经网络的自动泊车路径规划[J].合肥工业大学学报.2014.4(35)4:459-540吴冰,钱立军,虞明,吴坚.基于RBF神经网络的自动泊车路径规划[J].合肥工业大学学报.2014.4(35)4:459-540.
[7]J Pohl,M Sethsson,P Degerman,and J Larsson.A semi-automated parallel parking system forpassenger cars[J].Part D:J.Automobile Engineering,2006,Proc.IMechE Vol.220:53-65.
[8]R.E.Colyer,J.T.Economou.Comparison of steering geometries for multi-wheeled vehicles by modelling and simulation[C].Proceedings of the 37 th IEEE Conference on Decision and Control,1998,3:3131-3133.
[9]李红,郭孔辉,宋晓琳,李飞龙.基于Matlab的多约束自动平行泊车轨迹规划[J].中南大学学报.2013.1,(44)7:101-107.
[10]乔维高,徐学.无人驾驶汽车的发展现状及方向[J].上海汽车.2007:40-44.
[11]Sebastian T,MikeM,HendrikD,etal.Stanley The Robot that Won the DARPA Grand Challenge[J].Journal of Field Robotics,2006,23(9):661-692.
[12]Chen Q,Ozuguner U,Redill K.Ohio State University at the 2004 DARPA Grand Challenge:Developing a Completely Autonomous Vehicle,IEEE Intelligent.Systems,Vol.19,No.5,pp.8-11,Oct.2004.
[13]Cem H,Ozguner U,Keith A.Redmill.Automated Lane Change Controller Design[J].IEEE Transactions on Intelligent Transportation System,2003,4(1):13-22.
[14]Kristijian M,Roland P,Roland S.Path Following for Autonomous Vehicle Navigation with Inherent Safety and Dynamic Margin.IEEE Intelligent Vehicles Symposium[C].USA:IEEE.2008:108-113.
[15]赵玲.平行泊车方法研究与仿真[D].长安大学硕士学位论文.2009.
[2]Paromtchik I.E.,Laugier C.Autonomous Parallel Parking and Returning to Traffic Maneuvers[C].Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems.Grenoble,France,1997,3:21-23.
[3]李红,郭孔辉,宋晓琳,李飞龙.基于Matlab的多约束自动平行泊车轨迹规划[J].中南大学学报.2013.1(44)1:101-107.
[4]ZHAO Y N,COLLINS E G.Robust automatic parallel parking in tightspaces via fuzzy logic[J].Robotics and Autonomous Systems,2005,5(51):111-127.
[5]Chang S J,Li J.Design and implementation of fuzzy parallel parking control for a car-type mobile robot[J].Journal of Intelligent&Robotic System,2004,34(2):175-180.
[6]吴冰,钱立军,虞明,吴坚.基于RBF神经网络的自动泊车路径规划[J].合肥工业大学学报.2014.4(35)4:459-540吴冰,钱立军,虞明,吴坚.基于RBF神经网络的自动泊车路径规划[J].合肥工业大学学报.2014.4(35)4:459-540.
[7]J Pohl,M Sethsson,P Degerman,and J Larsson.A semi-automated parallel parking system forpassenger cars[J].Part D:J.Automobile Engineering,2006,Proc.IMechE Vol.220:53-65.
[8]R.E.Colyer,J.T.Economou.Comparison of steering geometries for multi-wheeled vehicles by modelling and simulation[C].Proceedings of the 37 th IEEE Conference on Decision and Control,1998,3:3131-3133.
[9]李红,郭孔辉,宋晓琳,李飞龙.基于Matlab的多约束自动平行泊车轨迹规划[J].中南大学学报.2013.1,(44)7:101-107.
[10]乔维高,徐学.无人驾驶汽车的发展现状及方向[J].上海汽车.2007:40-44.
[11]Sebastian T,MikeM,HendrikD,etal.Stanley The Robot that Won the DARPA Grand Challenge[J].Journal of Field Robotics,2006,23(9):661-692.
[12]Chen Q,Ozuguner U,Redill K.Ohio State University at the 2004 DARPA Grand Challenge:Developing a Completely Autonomous Vehicle,IEEE Intelligent.Systems,Vol.19,No.5,pp.8-11,Oct.2004.
[13]Cem H,Ozguner U,Keith A.Redmill.Automated Lane Change Controller Design[J].IEEE Transactions on Intelligent Transportation System,2003,4(1):13-22.
[14]Kristijian M,Roland P,Roland S.Path Following for Autonomous Vehicle Navigation with Inherent Safety and Dynamic Margin.IEEE Intelligent Vehicles Symposium[C].USA:IEEE.2008:108-113.
[15]赵玲.平行泊车方法研究与仿真[D].长安大学硕士学位论文.2009.