Design For Scheduling Of Parking And Automatic Parking Via Vanet

Finding a parking space in the city of traffic congestion becomes extremely difficult and the number of accidents caused by parking fast increases.The difficulty of finding a parking space and parking have received more and more attention.For the two problems,this paper carries on the further research deeply.The main research contents are summarized as follows:(1)We study the difficulty in finding parking spaces problem of saturated parking lot.By exchanging available parking information in a vehicular ad hoc network(VANET),drivers can receive interesting information while driving.A suitable protocol is needed to disseminate the available parking information efficiently within the area where they are relevant.Moreover,in such a competitive context where each vehicle may be interested in a resource,to solve this problem,we detail in this paper a reservation protocol that efficiently allocates parking spaces in vehicular ad hoc networks and avoids the competition among the vehicles.(2)Automatic parking path planning is put forward for parallel parking steering situation.The path-planning method consists of two parts.First,the kinematic model of the vehicle,with corresponding geometry,is used to create a path to park the vehicle in one or more maneuvers if the spot is very narrow.This path is constituted of circle arcs.Second,this path is transformed into a continuous-curvature path using clothoid curves.Using matlab simulation for tests,the test results verify the effectiveness.(3)Active disturbance rejection control(ADRC)method is applied in path tracking for the first time,which can solve the precision lateral control problem when the vehicle is parking in a low speed.During parallel parking,the parking speed is affected by the external disturbance owing to the roughness of road surface and road bumps,the model uncertainty is existed in steering kinematics for the complex steering mechanism,and there is a delay time in the steering system.In order to diminish the impacts of external disturbance,model uncertainty and steering system delay on path tracking,the path tracking controller based on ADRC method is built.Using the experimental vehicle for real vehicle tests,the test results verify the effectiveness of the path tracking controller.