Research Of Automatic Parking System Based On A Four-part Form Planned Path

With the rapid increase of car, in the modern city "parking difficult" problembecomes more and more prominent. An efficient automatic parking system, not only canhelp drivers to complete parking operation fast and safely, so as to lighten the burden onthe drivers, reduce traffic accidents, but also can effectively improve the intelligencelevel of the car, increase the added value of the car, so as to bring huge economicbenefits.An automatic parking system which includes parallel parking mode and verticalparking mode was designed in this paper. First, according to the theory of Ackerman,the car body and parking simplified model was built, and further the parking kinematicmodel at low speed was built, and then the parking kinematic model was madesimulation analysis using MATLAB software, combined with the actual parking processto study the geometric path planning method of the vertical parking and the parallelparking, and finally the geometric path was improved depending on the test car bodyparameters and dynamic performance indicators, a kind of adaptability parking planningpath was designed.In addition, the hardware of automatic parking system, including the perception ofthe system for data acquisition and automatic driving actuator was also introduced inthis paper. By ultrasonic sensor, angle sensor based sensing system to obtain bodysurroundings and body posture, the control system with DSP as the core calculates theparking path according to the perceptual system to collect data and achieve self-parkingby sending commands to control the drive motor, steering motor and other executiveagencies.Finally, the whole system was tested in the real vehicle. Control system judged thesuitable current parking according to the data of perceptual system, and generated avalid parking path according to the position relationship between the test vehicle and thetarget parking, and then control the steering wheel and the vehicle speed to actualizeautomatic parking.The design in this paper can complete the automatic parking basically, but furtherresearch is necessary to improve the performance of automatic parking system.