Intelligent Automatic Parking System

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.