毕业设计论文-基于模糊控制的车辆自动泊车.doc

大连海事大学 毕 业 论 文 二○一五年六月 基于模糊控制的车辆自动泊车 专业班级： 自动化一班 姓 名： 指导教师： 信息科学技术学院摘 要 随着社会工业化进程的推进，汽车产业飞速发展，汽车技术明显提高，其中表现在智能化程度发展上。智能汽车技术的重要代表之一就是自动泊车系统。自动泊车系统，有助于驾驶员减少其操作负担和降低驾驶疲劳感，减少泊车事故的发生，可提高驾驶的安全性，它有一个鉴于实际的意义如今越来越受到人们的重视。本文旨在研究垂直自动泊车系统的控制方法，并通过MATLAB GUI仿真这种方法实现垂直泊车。 本文通过对低速运动车辆的运动学及控制角度出发，基于模糊控制算法研究了车辆自动泊车问题。首先建立了汽车前轮转向的运动学模型，对自动泊车每个过程进行了分析和对泊车位和车辆位置进行探讨。然后，设计相应的输入和输出变量，设计各自的隶属函数和模糊控制规则表，根据汽车的运动学模型和各过程，设计了模糊控制器的自动垂直泊车，并通过MATLAB GUI仿真其停车过程。 关键词:自动垂直泊车；运动学模型；模糊控制；MATLAB GUI仿真 Abstract Along with the advancement of social industrialization, the automobile industry is developing rapidly, and the technology of the automobile is obviously improved, which is reflected in the development of the intelligence level.. One of the important representatives of the intelligent vehicle technology is the automatic parking system.. Automatic parking system, helps the driver to reduce the burden on the operation and reduce driving fatigue, reduce the occurrence of parking accidents, improve the safety of driving, it has a given practical significance nowadays more and more people have paid more and more attention. This paper is intended to study the control method of vertical parking system, and can achieve vertical parking by GUI MATLAB simulation. Based on the kinematics and control of the low-speed sport vehicles, the vehicle parking problem is studied based on the fuzzy control algorithm.. Firstly, the kinematic model of the front wheel steering wheel steering is built, and the parking space and vehicle position are analyzed.. Then, design the corresponding input and output variables, design their membership functions and fuzzy control rule table, according to the vehicle kinematics model and the process of design of fuzzy controller of automatic vertical parking, and through the simulation of Matlab GUI, the parking process. Keywords: Automatic Vertical Parking， Kinematical Model， Fuzzy Control，MATLAB GUI Simulation 目录 第一章 绪论 1 1.1课题研究的背景及意义 1 1.2课题的国内外研究现状 2 1.2.1国外研究现