Reasearch And Implementation Of Autonomous Angle Parking System Based On FPGA

While more people have realized their "Car Dream","Car Sickness" problems have been increasingly prominent."Parking Difficulty" is one of those to be solved. An automatic parking system (APS) assists drivers to park safely and efficiently, especially in small and tight spaces, through perceiving, locating, deciding and executing. This technology has been one of the increasing research focuses in the area of car-body electronics.In view of problems including car-body tilt, improper distance, and upgrade difficulties with existing APS, and fewer cars equipped with angle parking assistant system, this paper presents an autonomous angle parking system (AAPS) based on FPGA with unique odds.Firstly, the overall design of AAPS was determined via the four function modules of APS, after intensive study of the parking types and experience of angle parking.Secondly, a1:10car-like model robot (CLMR) was implemented mainly based on Nexys3and rationally arranged ultrasonic ranging sensors. Considering the characteristics of this CLMR and real parking space demands, a car’s steering kinematic model was established according to Ackerman steering principle, and this AAPS parking space was devised, respectively as the foundation of theory and parking space model for algorithms’design.Afterwards, through the Matlab Simulink platform and Fuzzy Logic Toolbox, the key AAPS algorithms’designing were completed, including the Fuzzy PID speed controller to enhance the system reliability, car-body posture correction Fuzzy controller to solve the existing APS car-body posture problems, and the overall algorithm of the AAPS, among which, this work particularly optimized the speed controller and improved its performance.Finally, in Xilinx EDK environment, by using the hardware and software co-design technology, a System on a Programmable Chip (SoPC) was built, through which the software of AAPS algorithms were implemented. And finally the configuration file was downloaded to the Nexys3FPGA chip to test the functionality of the parking.Experimental results show that the system can achieve desired effects of oblique parking. Simultaneously, the posture adjustment algorithm can be used for vertical or parallel APS; with reconfigurable features of FPGA, the system can be easily upgraded inexpensively.