Automobile automatic parking method based on humanoid intelligent control

Abstract

The invention relates to automobile automatic parking and particularly relates to an automobile automatic parking method based on humanoid intelligent control. The method comprises the following steps of: the first step: determining an automatic parking path according to parameters of an automobile and the parameters of a parking place, and selecting a plurality of preset key points on the path as tracking targets; the second step: determining the current characteristic state by utilizing a characteristic model which is constructed under the drive of an error of the positional posture of the automobile during the parking process relative to the current preset key point and an error change rate; the third step: determining the current control mode from the current characteristic state according to a control mode set which is constructed on the basis of parking operation of the driver; and the fourth step: controlling the automobile to move to the current preset key point according to the current control mode; and sequentially controlling the automobile to move to the final preset key point according to the method from the second step to the fourth step, and finally realizing parking of the automobile. The automatic parking method disclosed by the invention has the advantages of small amount of calculation and great universality.

Description

technical field [0001] The invention relates to automatic parking and positioning of automobiles, in particular to a method for automatic parking and positioning of automobiles based on humanoid intelligent control. Background technique [0002] Automatic parking of a car is the maneuvering behavior of a car moving from the driving lane to a parking space when no one is controlling the steering wheel. According to the direction of the car itself relative to the parking space, it can be divided into parallel parking and vertical parking. There are several situations such as in-position and oblique parking in-position. The main parameters of automatic parking include: vehicle length L c , vehicle width W c , wheelbase L, front wheel angle Minimum turning radius R m , parking space length L p , parking space width W p Wait. From the perspective of cybernetics, the vehicle system is a multi-input multi-output nonlinear underactuated coupling system. Researching the contr...

AI Technical Summary

Problems solved by technology

However, there are generally problems such as poor universality, complex calculation, and large amount of calculation.

For example, the method based on path planning has high requirements on the accuracy of sensors and actuators. During the parking process, it is difficult to compensate the errors caused by the execution process and the dynamics of the system, even if the position error can be replaced by subsequent iterations. Iterative motion compensation will also increase the corresponding time cost, thereby affecting the effect of parking in place; the method based on empirical knowledge uses fuzzy control and its combination with neural network and genetic algorithm, and it is difficult to obtain sample data for this method , fuzzification, defuzzification, neural network training and parameter optimization are computationally complex and computationally intensive

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