自动垂直泊车方法研究论文.doc

摘 要 摘 要 自动泊车系统是一种使汽车自动驶入停车位的汽车电子系统，它通过传感器 感知汽车周围环境来找到合适的停车位，并检测汽车与停车位的相对位置，然后 按照某种方法控制汽车的速度和转向实现泊车。与人工泊车操作难度大、事故率 高，传统倒车雷达智能度低相比，自动泊车系统提供的简便泊车功能，降低了驾 驶汽车的难度，提高了汽车的智能化水平和安全性。 本文研究和设计了三种自动垂直泊车方法，并对其进行了仿真验证。 在汽车低速行驶情况下，根据阿克曼转向几何为简化的汽车模型建立运动学 模型；采用多种传感器构建感知系统识别车位；根据泊车和出库过程互逆的规律， 在参考国标，满足避障要求的条件下，为汽车设计了三种不同的垂直泊车路径； 采用 Bezier 曲线处理连续行驶问题。 仿真方面，用 Matlab 的 GUI 搭建仿真系统，并用它对多种路径规划方法进 行了仿真实验。借助于这个仿真系统，研究了汽车在自动垂直泊车中的运动规律， 仔细分析了避障约束对泊车轨迹的影响，如何解决转向突变的问题，为此引入了 连续行驶的方法。 本文设计的自动垂直泊车方法能较好的完成自动泊车，这为自动垂直泊车系 统的研究和实车验证打下基础。 关键词：自动垂直泊车 运动学模型 路径规划 Bezier 曲线 Matlab 仿真 I ABSTRACT ABSTRACT Automatic parking system is a kind of automotive electronics system that enables a car to get into the parking space automatically. It finds the right parking spaces depending on surroundings information gotten by sensors, and measures the relative position between the car and the parking spaces then controls the cars speed and steering with a certain method, finally, completes the parking. Comparing with manual parking which is difficult to operate, but gets a higher accident rate and the low intelligent parking with a traditional reversing radar, automatic parking system provides a convenient parking function, reduces the difficulty of parking, and also improves the intelligence level and safety of the car. In this paper, three automatic vertical parking methods have been developed and designed. They have been verified through the computer simulation. First of all, according to Ackermann steering geometry, the kinematics model is created from the simplified model of a vehicle that is at a low speed. Next, the parking space is identified by perceptual system built using a variety of sensors. Then, based on the law that the parking process is reciprocal with the outbound one, and in reference to the national standard, three different vertical parking paths are designed, considering obstacle avoidance requirement. Finally, use Bezier curves to deal with continuous driving problems. In simulation, a simulatio