Research on Automatic Vertical Parking Method
|School||University of Science and Technology of China|
|Course||Pattern Recognition and Intelligent Systems|
|Keywords||Automatic vertical parking Kinematic model Path planning Bezier curves Matlab simulation|
Automatic parking system is a car automatically into the parking automotive electronic systems , through to find a suitable parking sensors perceive the car surroundings , and to detect the relative position of the car parking , and some way to control the car speed and steering to achieve parking. Difficulty with artificial parking operation , accident rate, intelligent low compared to traditional parking sensor , automatic parking system simple parking function , reduce the difficulty of driving a car , to improve the intelligence level of the car and security . This study and design of three automatic vertical parking method and its simulation . In the case of low speed of the vehicle , according to Ackermann steering geometry is simplified car model kinematic model ; built using a variety of sensor perception system to identify parking spaces ; law of reciprocal process of parking and a library , reference GB meet obstacle avoidance requirements for automotive design , three different vertical parking path ; processing continuous driving problem using Bezier curves . Simulation using Matlab's GUI to build simulation system and simulation experiment with it a variety of path planning methods . With this simulation system to study the law of motion of the car in automatic vertical parking , careful analysis of the obstacle avoidance constraint for parking trajectory , and how to solve the problem of steering mutation , for the introduction of continuous driving . In this paper, the design of automatic vertical parking can complete automatic parking , research and real vehicle automatic vertical parking system validation lay the foundation .