《智能检测论文-自动泊车系统研究》.doc

智能检测与工程控制 课程论文论文题目：自动泊车系统研究作 者：刘小荷学 号：1所在学院：电气与自动化工程学院任课老师：张金龙 教授论文时间：2015年6月15日Autonomous Parking System 1 Liu Xiaohe (School of Electrical and Automation Engineering, Nanjing Normal University ) Abstract: To simplify parallel parking, an autonomous parking method based on human-simulated intelligent control is proposed, by summarizing and imitating the parking skills of experienced drivers. A four-wheeled vehicle with rear-wheel drive and front wheel steering is used as study object. The vehicle kinematic model is build. According to the drivers’ experience, the parking processing is divided into four stages. Four key points on the programming trajectory composed with two tangent arcs and a tangent are chosen as tracking targets. At these points, conversion between two consecutive parking stages takes place and the vehicle pose is pivotal adjusted. Twelve character modes are extracted to describe dynamic behaviors of the parking feature from the information of the vehicle pose. Control mode set is developed according to the parking strategy of skilled drivers. When the parking begins, pattern recognition is used to identify the characteristics model according to the a priori knowledge of character models and the deviation of vehicle position. To control the vehicle parking along the programming trajectory，corresponding control mode is adapted by the characteristics model. Simulink kinematic modes of the vehicle and the proposed human-simulated intelligent controller are established, Simulations had been done and the results demonstrated the effectiveness of the proposed method． Key words: autonumous parking; human-simulated intelligent control; characteristic model; control model自动泊车系统研究 1 刘小荷 （南京师范大学电气与自动化工程学院） [摘要]: 为简化平行泊车，通过总结模拟熟练驾驶员的泊车经验，提出一种自动泊车的仿人智能控制方法。该方法以后轮驱动、前轮转向的四轮汽车为对象，建立车辆运动学模型; 通过分析熟练驾驶员泊车流程，将泊车过程分为4 个阶段; 在相切圆弧加公切线的规划路径上，选取泊车阶段转换时车辆姿态调整的关键点作为跟踪目标; 根据泊车过程车辆的位姿信息，提取12 种泊车的特征状态，作为描述车辆泊车动态行为的特征模型; 根据熟练驾驶员的泊车策略，构建控制模态集。泊车开始后，依据特征模型先验知识和当前车辆位姿