As one of advanced driver assistance systems (ADAS), automatic parking system has great market prospect and application value. In this paper, based on an intelligent vehicle platform, an automatic parking system is designed by using multi-point preview theory. The vehicle kinematics model was established, based on Ackermann steering principle. By analyzing working conditions of parallel parking, complex constraint condition of parking trajectory is established and reference trajectory based on sine wave is proposed. In addition, combined with multi-point preview theory, the design of trajectory following controller for automatic parking is completed. The cost function is designed, which consider the trajectory following effect and the degree of easy handling. The optimization of trajectory following control is completed by using the cost function. In order to validate automatic parallel parking algorithm proposed in this paper, the simulation based on DYNA4 and real vehicle test are carried out. According to the simulation and real vehicle test results, the vehicle can well follow the reference trajectory to complete automatic parking. In the simulation, the longitudinal error and the lateral error are 4 cm and 6 cm, respectively. In the real vehicle test, longitudinal error is less than 3 cm, lateral error is less than 5 cm, and the test results meet the requirements of parallel parking.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Design of Automatic Parallel Parking System Based on Multi-Point Preview Theory


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Zhu, Bing (Autor:in) / Wu, Jian (Autor:in) / Shi, Jiangchao (Autor:in) / Li, Jing (Autor:in) / He, Rui (Autor:in) / Deng, Weiwen (Autor:in) / Zhao, Yang (Autor:in)

    Kongress:

    WCX World Congress Experience ; 2018



    Erscheinungsdatum :

    2018-04-03




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Automatic Parallel Parking

    Lo, Y. K. / Rad, A. B. / Wong, C. W. et al. | British Library Conference Proceedings | 2003


    Automatic parallel parking

    Lo, Y.K. / Rad, A.B. / Wong, C.W. et al. | IEEE | 2003


    Track preview calculation method and system in automatic parking control system

    KANG SHUTAO / YE XIONGFEI / LEI XING | Europäisches Patentamt | 2020

    Freier Zugriff

    Multi-objective dynamic optimization for automatic parallel parking

    De Lope, Javier / Maravall, Dario | Tema Archiv | 2005


    Parallel parking system

    FELIX RODRIGO | Europäisches Patentamt | 2018

    Freier Zugriff