Intelligent parking system

Abstract

The invention discloses an intelligent parking system, which belongs to the field of control of automatic parking. The parking system consists of an environment perception unit, a central decision unit, a control unit and an electrical control execution unit which are sequentially connected, wherein the electrical control execution unit acts on vehicles. The environment perception unit is used for acquiring position information of a vehicle body and distance information of obstacles in the environment; the central decision unit is used for matching according to environmental information to select an appropriate parking controller; the control unit is formed by connecting a group of fuzzy parking controllers and a proportional-integral-differential (PID) controller, each fuzzy parking controller is obtained by learning the parking experience of excellent drivers and is implemented by adopting a singlechip NLX230; and the electrical control execution unit is used for executing an output result of the control unit and controlling a steering wheel. The intelligent parking system improves the safety and accuracy of the parking, and has strong control adaptive capability.

Description

technical field [0001] The invention relates to a vehicle control system, in particular to a vehicle intelligent parking system, which belongs to the field of automatic parking control. Background technique [0002] In recent years, with the increasing popularity of vehicles, parking has become a problem that drivers have to face. However, due to the limited experience of novice drivers, especially female drivers with a poor sense of direction, parking has become one of the biggest difficulties they encounter in driving. [0003] Automatic parking has been studied since the 1990s. At present, the method of automatic parking is mainly the trajectory tracking method based on the vehicle dynamics model. The core idea is to plan a suitable path through the environmental information of the sensor, and then control the steering and Speed ​​tracking trajectory to achieve the purpose of parking. The disadvantage of this method is the complexity of modeling and the poor robustness ...

AI Technical Summary

Problems solved by technology

The disadvantage of this method lies in the complexity of modeling and the poor robustness of classical control algorithms

As we all know, the car is a complex nonlinear system, and it is almost impossible to establish its precise dynamic model, and the simplified model often leads to the lack of control performance

The parking process needs to be controlled more precisely, otherwise it is likely to collide with adjacent vehicles or other obstacles, which is one of the reasons why the automatic parking system has been difficult to be practical

Classical control algorithms often have the problems of low precision and poor robustness for parking control

Because the path planned based on environmental information generally has a relatively large curvature, which brings great difficulty to tracking, so classical control theory is not the best choice for control tasks such as parking

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