摘要
针对某款车型的自动垂直泊车问题进行了研究。首先建立汽车倒车过程运动学模型,根据实测参数以及碰撞约束条件,推导垂直泊车的极限起始位置。然后基于模糊控制理论,建立基于驾驶员泊车经验的垂直泊车转向模糊控制器。进一步考虑实际泊车过程中传感器信号等噪声干扰的影响,对运动学模型进行卡尔曼滤波(Extended Kalman Filter,EKF)优化。最后基于优化后的运动学模型进行了垂直泊车转向模糊控制仿真分析。仿真结果表明,结合扩展卡尔曼滤波器的模糊控制方法,在车辆自动垂直泊车工况下具备良好的适应性。
The problem of automatic vertical parking for a vehicle is studied.Firstly,a kinematics model of the reversing process is established,and the limit starting position of vertical parking is deduced based on measured parameters and collision constraints.Then a vertical parking steering fuzzy controller based on driver's parking experience is established.Further considering the influence of noise interference such as sensor signals during actual parking,the motion model is optimized by Kalman Filter(EKF).Finally,based on the optimized kinematics model,the simulation analysis of vertical parking steering fuzzy control is carried out.The simulation results show that the fuzzy control method of extended Kalman filter has good adaptability under automatic vertical parking condition.
作者
王健
于蓬
王金波
彭欣
WANG Jian;YU Peng;WANG Jin-bo;PENG Xin(School of Automotive Engineering Shandong Jiaotong University,Shandong Jinan 250357 China;Shandong Mingyu New Energy Technology Co.,Ltd.,Shandong Jinan 251100 China)
基金
山东省重点研发计划项目资助,项目编号:2017GGX50109,2018GGX105008
山东交通运输厅科技计划项目,项目编号:2018B66
山东省高等学校科技计划项目资助:项目编号:J17KB024,J18KA050
山东交通学院博士科研启动资金资助项目
