Research On Control Strategy And Algorithm In Vehicle Autonomous Parking Systems

As the represent system of the intelligent vehicle, the autonomous parking system has already been one of the important safe parking assists. Due to the complicated parking environment, the autonomous parking system detects it with certain sensors, complete the parking move by tuning the input to the vehicle such as the steering angle and wheel's rotation speed. With the development of the society, the autonomous parking system has attracted much attention of the all the customers.As following shows the work done about the autonomous parking system:(1)Analyses the parking environment with or without obstacles. According to the Car's Architecture Design Criterion in China, it establishes the mathematical model of the environment, for the correct execution of the control strategy. Also, there are coordinates built to locate the vehicle base on the parking environment.(2)Introduces the Bezier curve from the computer graphics to the path planning. With the spelling the continuous Bezier curves, the linked lines have been smoothed.(3)Carries out different control strategies which lead the vehicle to park automatically. With the Ant Colony Optimization, it makes sure the vehicle safe enough to keep away from the obstacles.(4)Builds the virtual vehicle model based on ADAMS/View and supplies the control strategy with the controlled object.(5)Establishes three modles which named parallel without obstacle, vertical without obstacle and parallel with obstacle. By the feedback of the PID controllers, it proves that the control strategy is feasible.There are two innovations involved in the article:(1)Analyses the characteristic points of parking environments, complete the path planning which leads vehicle to park automatically based on the Bezier curves;(2)In the appliance of the Ant Colony Optimization, it carries out a new strategy to keep away from the obstacles in parking environment, so as to make sure the safety of the vehicle.