主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2024, Vol. 49 ›› Issue (4): 18-24.DOI: 10.16638/j.cnki.1671-7988.2024.004.004

• 智能网联汽车 • 上一篇    

基于模糊策略的自动泊车路径决策规划方法研究

张城瑞   

  1. 太原学院 机电与车辆工程系
  • 发布日期:2024-02-28
  • 通讯作者: 张城瑞
  • 作者简介:张城瑞（1993－），男，硕士，助教，研究方向为智能驾驶算法优化，E-mail:591847273@163.com。
  • 基金资助:
    山西省教育科学“十四五”规划课题（GH-220431）。

Research on the Method of Automatic Parking Path Decision Planning Based on Fuzzy Strategy

ZHANG Chengrui   

  1. Department of Electromechanical and Vehicle Engineering, Taiyuan University
  • Published:2024-02-28
  • Contact: ZHANG Chengrui

PDF

摘要： 如今的汽车产业受科学技术的深度介入，随之产生了巨大而深刻的变革，针对目前模 糊控制泊车策略复杂，实车运动难以精确跟随路径的问题进行优化。以车辆在自动泊车过程 中路径决策规划与控制算法为研究对象，确定了车辆最小转弯半径、最小泊车位。依据模糊 控制策略设计了泊车控制器，在此基础上，进一步提出一种优化模糊策略参数的方法，在 Simulink 中搭建仿真模型并在 CarSim 中进行联合仿真验证。最后以某品牌车辆为实验平台， 搭建了 Micro Autobox 快速控制原型，实验结果证明了该方法的有效性。

关键词: 多传感器融合；泊车控制器；控制策略；仿真验证；实车验证；Simulink；CarSim

Abstract: The current automotive industry has undergone profound and drastic changes with the deep involvement of science and technology. This paper aims to optimize the complex parking control strategy of fuzzy control and the difficulty of precise path following in real vehicles. The research object is the path decision-making planning and control algorithm of vehicles in the automatic parking process. The minimum turning radius of vehicles and minimum parking spaces are determined. A parking controller is designed based on the fuzzy control strategy. On this basis, an optimization method of fuzzy strategy parameters is further proposed. The simulation model is built in Simulink and verified by co-simulation in CarSim. Finally, a Micro Autobox rapid control prototype is built based on a certain brand of vehicle. Experimental results demonstrate the effectiveness of this method.

Key words: Multi-sensor fusion; Parking controller; Control strategy; Simulation verification; Real vehicle verification; Simulink; CarSim