Abstract: In recent years, intelligent automatic parking technology has continued to develop.An automatic parallel parking method based on fuzzy control theory is proposed to solve the problems of excessive curvature of parallel parking trajectory, non-continuous curvature, severe parking starting position and posture requirement of vehicle body. In this paper, the turning radius is taken as the output of the fuzzy controller, and the vehicle is put into the garage according to the continuous tangent arc path. The simulation model is established in MATLAB. The simulation results show that this method can realize automatic parallel parking with small and continuous trajectory curvature and small parking start-pose constraint.

Key words: Automatic parallel parking; Fuzzy control theory; Multi-arc path

摘要： 近年来，智能化的自动泊车技术不断发展。文章针对自动平行泊车轨迹曲率过大、曲率不 连续和泊车起始位置、车身姿态要求较为苛刻等问题，提出了一种基于模糊控制理论的多圆弧路 径自动平行泊车方法。以汽车转弯半径作为模糊控制器的输出，使得汽车按连续相切圆弧路径倒 车入库。在 MATLAB 中建立仿真模型，仿真结果表明，此方法可以实现连续轨迹曲率和较小泊车 起始位姿约束的自动平行泊车。

关键词: 自动平行泊车；模糊控制理论；多圆弧路径