智能自动泊车系统研究
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摘要
自动泊车系统是一种通过探测车辆周围环境信息来找到合适的泊车位,从而控制车辆的转向、速度,使得车辆能够自主驶入泊车位的系统。相比于人工泊车事故率高、传统倒车雷达智能度低,自动泊车系统提高了车辆的智能化水平和安全性,进一步降低了新手司机驾驶车辆的难度,也为将来实现车辆的自动驾驶打下基础。
本文从汽车运动学及控制角度出发,基于智能控制算法研究了自动泊车问题,主要研究内容包括:
首先,建立了包括车身横摆运动、侧倾运动和横摆角速度的前轮转向小车运动学模型;对自动泊车的各个过程做了详细分析并探讨了泊车位和车辆位姿参数的确定。
其次,基于建立的运动学模型和自动泊车的各个过程,分别设计了自动泊车各个过程中的模糊控制器,给出了相应的输入、输出变量,设计了各自的隶属度函数和各阶段的模糊控制规则表。并运用Matlab/Simulink进行了仿真研究和算法验证。
再次,为了进一步优化模糊控制器生成的轨迹,利用遗传算法对设计的模糊控制器进行优化。由于对控制规则的修改不能取得明显的优化效果,采用对隶属度函数进行优化调整的方法尝试优化模糊控制器。通过Matlab/simulink的仿真分析,加入遗传算法的模糊控制器能够有效改善系统响应,缩短运动轨迹。
最后,从传感器系统和电动转向系统两方面探讨了自动泊车系统的实现。通过合理安装超声波传感器组群,实现对车身周边环境的自动感知;通过对方向盘进行电动转向控制,可以根据智能控制器的输出来实现车辆动作的自动控制。
Automatic parking system is the system which detects environmental information to look for parking lot, and drives vehicle to the parking lot automatically by controlling the steering angle and speed of vehicle. Compared with that accidents happen frequently when parking vehicles, and traditional radar for backing vehicles is not intelligent enough, automatic parking system improves the intelligence and safety of vehicles, decreases the difficulty of driving cars for fresh drivers, and does foundation work for automatic driving in the future.
In the perspective of kinematics and control, this dissertation is focusing on the problem of automatic parking based on intelligent control algorithm. The primary research work is as following:
First, mathematical model of vehicle of front wheel steering which includes latitudinal motion, longitudinal motion and orientation angle rate is built. The process of automatic parking and related parameters are analyzed.
Secondly, based on the kinematic model of vehicle and the process of auto parking, a set of fuzzy logic controllers according to different period of the whole process are designed. The input, output variables, correspondent subject functions and rule tables are defined. Matlab/Simulink is used to perform the algorithm validation and analysis.
Thirdly, in order to optimize the trajectory exported by fuzzy logic controller, genetic algorithm is adopted in automatic parking system. Since obvious improvement can rarely been seen by modifying rules, optimization on subject functions is considered when optimizing the fuzzy logic controller. Analysis on the results generated by simulation demonstrates that fuzzy logic controller with genetic algorithm has better response and shorter track compared with the one with which isn't integrated.
At last, implementation of automatic parking system is discussed in the ways of sensor system and electric steering system. By installing the ultrasonic sensors reasonably, system can apperceive the environmental information automatically. By controlling steering wheel electrically, system can control motion of vehicle according to output of intelligent controller so that self-parking will be implemented.
本文从汽车运动学及控制角度出发,基于智能控制算法研究了自动泊车问题,主要研究内容包括:
首先,建立了包括车身横摆运动、侧倾运动和横摆角速度的前轮转向小车运动学模型;对自动泊车的各个过程做了详细分析并探讨了泊车位和车辆位姿参数的确定。
其次,基于建立的运动学模型和自动泊车的各个过程,分别设计了自动泊车各个过程中的模糊控制器,给出了相应的输入、输出变量,设计了各自的隶属度函数和各阶段的模糊控制规则表。并运用Matlab/Simulink进行了仿真研究和算法验证。
再次,为了进一步优化模糊控制器生成的轨迹,利用遗传算法对设计的模糊控制器进行优化。由于对控制规则的修改不能取得明显的优化效果,采用对隶属度函数进行优化调整的方法尝试优化模糊控制器。通过Matlab/simulink的仿真分析,加入遗传算法的模糊控制器能够有效改善系统响应,缩短运动轨迹。
最后,从传感器系统和电动转向系统两方面探讨了自动泊车系统的实现。通过合理安装超声波传感器组群,实现对车身周边环境的自动感知;通过对方向盘进行电动转向控制,可以根据智能控制器的输出来实现车辆动作的自动控制。
Automatic parking system is the system which detects environmental information to look for parking lot, and drives vehicle to the parking lot automatically by controlling the steering angle and speed of vehicle. Compared with that accidents happen frequently when parking vehicles, and traditional radar for backing vehicles is not intelligent enough, automatic parking system improves the intelligence and safety of vehicles, decreases the difficulty of driving cars for fresh drivers, and does foundation work for automatic driving in the future.
In the perspective of kinematics and control, this dissertation is focusing on the problem of automatic parking based on intelligent control algorithm. The primary research work is as following:
First, mathematical model of vehicle of front wheel steering which includes latitudinal motion, longitudinal motion and orientation angle rate is built. The process of automatic parking and related parameters are analyzed.
Secondly, based on the kinematic model of vehicle and the process of auto parking, a set of fuzzy logic controllers according to different period of the whole process are designed. The input, output variables, correspondent subject functions and rule tables are defined. Matlab/Simulink is used to perform the algorithm validation and analysis.
Thirdly, in order to optimize the trajectory exported by fuzzy logic controller, genetic algorithm is adopted in automatic parking system. Since obvious improvement can rarely been seen by modifying rules, optimization on subject functions is considered when optimizing the fuzzy logic controller. Analysis on the results generated by simulation demonstrates that fuzzy logic controller with genetic algorithm has better response and shorter track compared with the one with which isn't integrated.
At last, implementation of automatic parking system is discussed in the ways of sensor system and electric steering system. By installing the ultrasonic sensors reasonably, system can apperceive the environmental information automatically. By controlling steering wheel electrically, system can control motion of vehicle according to output of intelligent controller so that self-parking will be implemented.
引文
[1] Paul Green. Parking Crashes and Parking Assistance System Design: Evidence from Crash Databases, the Literature and Insurance Agent Interviews. SAE World Congress, 2006,1:1685-1700
[2] I.E. Paromtchik, C.Laugier. Autonomous Parallel Parking of Nonholonomic Vehicle. Proceedings of the IEEE International Conference on Fuzzy Systems, 1996, 3117-3122
[3] I.E. Paromtchik, C.Laugier. Motion Generation and Control for Parking an Autonomous Vehicles. Proceedings of the IEEE International Conference on Robotics and Automation, 1996,13-18
[4] K.Jiang, L.D.Seneviratne. A Sensor Guided Autonomous Parking System for Nonholonomic Mobile Robots. Proceedings of the IEEE International Conference on Robotics and Automation, 1999, 311-316
[5] Sungon Lee, Minchuul Kim, Youngil Youm, Wankyun Chung. Control of a Car-Like Robot for Parking Problem. Proceedings of the IEEE Robotics and Automation, 1999,1-6
[6] Takuya Inoye, Minh Quan Dao, Kang-Zhi Liu. Development of an Auto-Parking System with Physical Limitations. SICE Annual Conference, 2004, 1015-1020
[7] Tzuu-Hseng S.Li, Shih-Jie Chang, Yi-Xiang Chen. Implementation of Human-Like Driving Skills by Autonomous Fuzzy Behavior Control on an FPGA-Based Car-Like Mobile Robot. IEEE Transactions on Industrial Electronics, 2003, 50:867-880
[8] Tzuu-Hseng S.Li, Shih-Jie Chang. Autonomous Fuzzy Parking Control of a Car-Like Mobile Robot. IEEE Transactions on Systems, Man, and Cybernetics, 2003,33:451-465
[9] Yanan Zhao, Emmanuel G.Collins Jr.* . Robust Automatic Parallel Parking in Tight Spaces via Fuzzy Logic. Robotics and Autonomous Systems, 2005, 51:111-127
[10] G.G.Rigatos, S. G Tzafestas, G J. Evangelidis. Reactive Parking Control of Nonholonomic Vehicles via a Fuzzy Learning Automaton. Proceedings of the IEEE Control Theory Application, 2001, 148:169-179
[11] F.Gomez-Bravo, F.Cuesta*, A.Ollero . Parallel and Diagonal Parking in Nonholonomic Autonomous Vehicles. Engineering Applications of Artificial Intelligence, 2001, 14:419-434
[12] Lo Y.K., Rad A.B., Wong C.W., M.L.Ho. Automatic Parallel Parking. Proceedings of the IEEE Intelligent Transportation Systems, 2003, 50:1190-1193
[13] Massaki Wade, Kang Sup Yong, Hideki Hashimoto. Development of Advanced Parking Assistance System. IEEE Transactions on Industrial Electronics, 2003, 50:4-16
[14] Zang Joung, Xuan Dongji, Kim Jin Wan, Kim Young Bae. A Study of Autonomous Parking for a 4-Wheel Driven Mobile Robot. Proceedings of the 26~(th) Chinese Control Conference, 2007,179-183
[15] Milton Roberto Heinen, Fernando Santos Osorio, Farlei Jose Heinen, Christian Kellber. SEVA3D: Using Artificial Neural Networks to Autonomous Vehicle Parking Control. International Joint Conference on Neural Networks, 2006, 4704-4711
[16] D.Gorinevsky, A. Kapitanovsky, A. Goldenberg. Neural Network Architecture for Trajectory Generation and Control of Automated Car Parking. IEEE Transactions on Control System Technology, 1996, 4:50-56
[17] Lyon D.. Parallel Parking with Curvature and Nonholonomic Constraints. Digital Object Identifier, 1992, 353-388
[18] J.Xu, G.Chen, M.Xie. Vision-guided Automatic Parking for Smart Car. Proceedings of the IEEE Intelligent Vehicle Symposium, 2000, 725-730
[19] R.Holve, P.Protzel . Reverse Parking of a Mobie Car with Fuzzy Control. Proceedings of the 4~(th) European Congress on Intelligent Techniques and Soft Computing, 1996, 2171-2175
[20] Jean.Paul Laumond, E. Jacobs, Michel Taix, Richard M. Murray. A Motion Planner for Nonholonomic Mobile Robots. IEEE Transactions on Robotics and Automation, 1994, 10:577-593
[21] A.Scheuer, Th. Fraichard. Planning Continuous-Curvature Paths for Car-Like Robots. Proceedings of the Intelligent Robots and Systems, 1996, 1304-1311
[22] J.R Zhang, A.Rachid, S.J.Xu. Velocity Controller Design for Automatic Steering of Vehicles. Proceedings of the American Control Conference, 2001, 696-697
[23] J.Ackerman. Linear and Nonlinear Controller Design for Robust Automatic Steering. IEEE Transactions on Control Systems Technology, 1995, 3:132-143
[24] J.Guldner, Vadim I.Utkin, J.Ackerman. A Sliding Mode Control Approach to Automatic Car Steering. Proceedings of the American Control Conference, 1994, 1969-1973
[25]杨昔阳,尤晴曦,李洪兴.基于变论域理论的自动倒车控制.北京师范大学学报,2005,41(4):348-350
[26]林瑞,吴志坚,姚必正.小车倒车问题的多维模糊控制器研究.上海大学学报,1999,5(4):323-326
[27]Hitoshi Miyata,Makoto Ohki,Yasuyuki Yokouchi,Masaaki Ohkita~*.Control of the Autonomous Mobile Robot DREAM-1 for a Parallel Parking.Mathematics and Computers in Simulation,1996,41:129-138
[28]M.Khoshnejad,K.Demirli.Autonomous Parallel Parking of a Car-Like Mobile Robot by a Neuro-Fuzzy Behavior-Based Controller.Annual Meeting of the North American Fuzzy Information Processing Society,2005,814-819
[29]W.Nelson.Continuous-Curvature Paths for Autonomous Vehicles.Proceedings of the IEEE Robotics and Automation,1999,3:1260-1264
[30]L.A.Zadeh.Fuzzy Sets,Information and Control.Information Control,1965,8:353-388
[31]L.A.Zadeh.Fuzzy Algorithm.Information Control,1968,12:94-102
[32]Kuang-Yow Lian,Chian-Song Chiu,Tung-Sheng Chiang.Parallel Parking a Car-Like Robot Using Fuzzy Gain Scheduling.Proceedings of the IEEE International Conference on Control Applications,1999,1686-1691
[33]Chian-Song Chiu,Kuang-Yow Lian,Peter Liu.Fuzzy Gain Scheduling for Parallel Parking a Car-Like Robot.IEEE Transactions on Control Systems Technology,2005,1084-1092
[34]刘磊,向平,王永骥,俞辉.非完整约束下的轮式移动机器人轨迹跟踪.清华大学学报,2007,47(S2):1884-1889
[35]李泽湘.机器人操作的数学导论.北京:机械工业出版社,1998
[36]孙增圻.智能控制理论与技术.北京:清华大学出版社,广西科学技术出版社,1997
[37]诸静.模糊控制原理及应用.北京:机械工业出版社,2005
[38]吴晓莉.MATLAB辅助模糊系统设计.西安:西安电子科技大学出版社,2005
[39]姚俊,马松辉.SIMULINK建模与仿真.西安:西安电子科技大学出版社,2005
[40]柳长立.日本未来汽车的安全预警系统.汽车电器,1999,1:23-24
[41]于伟,张乃尧,白帆.倒车问题的模糊优化控制方案.机电一体化,2001,21-24
[42]J.H.Holland.Adaptation in Natural and Artificial Systems.The University of Michigan Press,1975
[43]F.Hoffmann,G.Pfister.Evolutionary Design of a Fuzzy Knowledge base for a Mobile Robot.Int.J.Approximate Reasoning,1997,17:447-469
[44]Goldberg D.E..Genetic Algorithms in Search,Optimization & Machine Learning,Reading.MA:Addison Wesley Publishing,1989
[45]B.Carse,T.C,Fogarty,A.Munro.Evolving Fuzzy Rule Based Controllers Using Genetic Algorithms.Fuzzy Sets and Systems,1996,80:273-293
[46]Amor Poursamad,Morteza Montazeri.Design of Genetic-Fuzzy Control Strategy for Parallel Hybrid Electric Vehicles.Control Engineering Practice,2008,16:861-873
[47]蒋海琳,靳东明.基于基因算法的模糊控制研究.电子学报,2002,30(5):676-679
[48]张显库,张宁.用GA优化模糊控制器及其应用.计算机工程与应用,2004,8:202-204
[49]胡寿松,王执铨,胡维礼.最优控制理论与系统.北京:科学出版社,2005
[50]张杰,邹继刚,张瑞,李文秀.一种基于遗传算法的机器人手臂系统模糊控制器.哈尔滨工程大学学报,2001,22(3):55-59
[51]雷英杰,张善文,李续武,周创明.MATLAB遗传算法工具箱及应用.西安:西安电子科技大学出版社,2005
[52]顾俊,沈炯,陈来九.遗传算法对模糊控制的优化及应用.东南大学学报,1998,28:109-119
[53]阮久宏,付梦印,李贻斌,邓志红.基于模糊逻辑和GA的智能车辆横向控制算法仿真研究.系统仿真学报,2004,16(10):9-12
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[58]冯樱,肖生发,李春茂.电子控制式电动助力转向系统的控制.汽车研究与开发报,2001,6:34-36
[59]宋玉荣,刘贤兴,张植保.基于DSP的直线步进电机的控制系统设计.微电机,2001,34(6):30-33
[60]张云安,马瑞卿,符向荣,杨平.电动助力转向系统的设计与开发.计算机测量与控制,2004,13(6):551-576
[2] I.E. Paromtchik, C.Laugier. Autonomous Parallel Parking of Nonholonomic Vehicle. Proceedings of the IEEE International Conference on Fuzzy Systems, 1996, 3117-3122
[3] I.E. Paromtchik, C.Laugier. Motion Generation and Control for Parking an Autonomous Vehicles. Proceedings of the IEEE International Conference on Robotics and Automation, 1996,13-18
[4] K.Jiang, L.D.Seneviratne. A Sensor Guided Autonomous Parking System for Nonholonomic Mobile Robots. Proceedings of the IEEE International Conference on Robotics and Automation, 1999, 311-316
[5] Sungon Lee, Minchuul Kim, Youngil Youm, Wankyun Chung. Control of a Car-Like Robot for Parking Problem. Proceedings of the IEEE Robotics and Automation, 1999,1-6
[6] Takuya Inoye, Minh Quan Dao, Kang-Zhi Liu. Development of an Auto-Parking System with Physical Limitations. SICE Annual Conference, 2004, 1015-1020
[7] Tzuu-Hseng S.Li, Shih-Jie Chang, Yi-Xiang Chen. Implementation of Human-Like Driving Skills by Autonomous Fuzzy Behavior Control on an FPGA-Based Car-Like Mobile Robot. IEEE Transactions on Industrial Electronics, 2003, 50:867-880
[8] Tzuu-Hseng S.Li, Shih-Jie Chang. Autonomous Fuzzy Parking Control of a Car-Like Mobile Robot. IEEE Transactions on Systems, Man, and Cybernetics, 2003,33:451-465
[9] Yanan Zhao, Emmanuel G.Collins Jr.* . Robust Automatic Parallel Parking in Tight Spaces via Fuzzy Logic. Robotics and Autonomous Systems, 2005, 51:111-127
[10] G.G.Rigatos, S. G Tzafestas, G J. Evangelidis. Reactive Parking Control of Nonholonomic Vehicles via a Fuzzy Learning Automaton. Proceedings of the IEEE Control Theory Application, 2001, 148:169-179
[11] F.Gomez-Bravo, F.Cuesta*, A.Ollero . Parallel and Diagonal Parking in Nonholonomic Autonomous Vehicles. Engineering Applications of Artificial Intelligence, 2001, 14:419-434
[12] Lo Y.K., Rad A.B., Wong C.W., M.L.Ho. Automatic Parallel Parking. Proceedings of the IEEE Intelligent Transportation Systems, 2003, 50:1190-1193
[13] Massaki Wade, Kang Sup Yong, Hideki Hashimoto. Development of Advanced Parking Assistance System. IEEE Transactions on Industrial Electronics, 2003, 50:4-16
[14] Zang Joung, Xuan Dongji, Kim Jin Wan, Kim Young Bae. A Study of Autonomous Parking for a 4-Wheel Driven Mobile Robot. Proceedings of the 26~(th) Chinese Control Conference, 2007,179-183
[15] Milton Roberto Heinen, Fernando Santos Osorio, Farlei Jose Heinen, Christian Kellber. SEVA3D: Using Artificial Neural Networks to Autonomous Vehicle Parking Control. International Joint Conference on Neural Networks, 2006, 4704-4711
[16] D.Gorinevsky, A. Kapitanovsky, A. Goldenberg. Neural Network Architecture for Trajectory Generation and Control of Automated Car Parking. IEEE Transactions on Control System Technology, 1996, 4:50-56
[17] Lyon D.. Parallel Parking with Curvature and Nonholonomic Constraints. Digital Object Identifier, 1992, 353-388
[18] J.Xu, G.Chen, M.Xie. Vision-guided Automatic Parking for Smart Car. Proceedings of the IEEE Intelligent Vehicle Symposium, 2000, 725-730
[19] R.Holve, P.Protzel . Reverse Parking of a Mobie Car with Fuzzy Control. Proceedings of the 4~(th) European Congress on Intelligent Techniques and Soft Computing, 1996, 2171-2175
[20] Jean.Paul Laumond, E. Jacobs, Michel Taix, Richard M. Murray. A Motion Planner for Nonholonomic Mobile Robots. IEEE Transactions on Robotics and Automation, 1994, 10:577-593
[21] A.Scheuer, Th. Fraichard. Planning Continuous-Curvature Paths for Car-Like Robots. Proceedings of the Intelligent Robots and Systems, 1996, 1304-1311
[22] J.R Zhang, A.Rachid, S.J.Xu. Velocity Controller Design for Automatic Steering of Vehicles. Proceedings of the American Control Conference, 2001, 696-697
[23] J.Ackerman. Linear and Nonlinear Controller Design for Robust Automatic Steering. IEEE Transactions on Control Systems Technology, 1995, 3:132-143
[24] J.Guldner, Vadim I.Utkin, J.Ackerman. A Sliding Mode Control Approach to Automatic Car Steering. Proceedings of the American Control Conference, 1994, 1969-1973
[25]杨昔阳,尤晴曦,李洪兴.基于变论域理论的自动倒车控制.北京师范大学学报,2005,41(4):348-350
[26]林瑞,吴志坚,姚必正.小车倒车问题的多维模糊控制器研究.上海大学学报,1999,5(4):323-326
[27]Hitoshi Miyata,Makoto Ohki,Yasuyuki Yokouchi,Masaaki Ohkita~*.Control of the Autonomous Mobile Robot DREAM-1 for a Parallel Parking.Mathematics and Computers in Simulation,1996,41:129-138
[28]M.Khoshnejad,K.Demirli.Autonomous Parallel Parking of a Car-Like Mobile Robot by a Neuro-Fuzzy Behavior-Based Controller.Annual Meeting of the North American Fuzzy Information Processing Society,2005,814-819
[29]W.Nelson.Continuous-Curvature Paths for Autonomous Vehicles.Proceedings of the IEEE Robotics and Automation,1999,3:1260-1264
[30]L.A.Zadeh.Fuzzy Sets,Information and Control.Information Control,1965,8:353-388
[31]L.A.Zadeh.Fuzzy Algorithm.Information Control,1968,12:94-102
[32]Kuang-Yow Lian,Chian-Song Chiu,Tung-Sheng Chiang.Parallel Parking a Car-Like Robot Using Fuzzy Gain Scheduling.Proceedings of the IEEE International Conference on Control Applications,1999,1686-1691
[33]Chian-Song Chiu,Kuang-Yow Lian,Peter Liu.Fuzzy Gain Scheduling for Parallel Parking a Car-Like Robot.IEEE Transactions on Control Systems Technology,2005,1084-1092
[34]刘磊,向平,王永骥,俞辉.非完整约束下的轮式移动机器人轨迹跟踪.清华大学学报,2007,47(S2):1884-1889
[35]李泽湘.机器人操作的数学导论.北京:机械工业出版社,1998
[36]孙增圻.智能控制理论与技术.北京:清华大学出版社,广西科学技术出版社,1997
[37]诸静.模糊控制原理及应用.北京:机械工业出版社,2005
[38]吴晓莉.MATLAB辅助模糊系统设计.西安:西安电子科技大学出版社,2005
[39]姚俊,马松辉.SIMULINK建模与仿真.西安:西安电子科技大学出版社,2005
[40]柳长立.日本未来汽车的安全预警系统.汽车电器,1999,1:23-24
[41]于伟,张乃尧,白帆.倒车问题的模糊优化控制方案.机电一体化,2001,21-24
[42]J.H.Holland.Adaptation in Natural and Artificial Systems.The University of Michigan Press,1975
[43]F.Hoffmann,G.Pfister.Evolutionary Design of a Fuzzy Knowledge base for a Mobile Robot.Int.J.Approximate Reasoning,1997,17:447-469
[44]Goldberg D.E..Genetic Algorithms in Search,Optimization & Machine Learning,Reading.MA:Addison Wesley Publishing,1989
[45]B.Carse,T.C,Fogarty,A.Munro.Evolving Fuzzy Rule Based Controllers Using Genetic Algorithms.Fuzzy Sets and Systems,1996,80:273-293
[46]Amor Poursamad,Morteza Montazeri.Design of Genetic-Fuzzy Control Strategy for Parallel Hybrid Electric Vehicles.Control Engineering Practice,2008,16:861-873
[47]蒋海琳,靳东明.基于基因算法的模糊控制研究.电子学报,2002,30(5):676-679
[48]张显库,张宁.用GA优化模糊控制器及其应用.计算机工程与应用,2004,8:202-204
[49]胡寿松,王执铨,胡维礼.最优控制理论与系统.北京:科学出版社,2005
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