A parallel parking system and parking method based on sliding mode active disturbance rejection control

Abstract

The invention discloses a parallel parking system and method based on sliding-mode active-disturbance-rejection control. The parallel parking system comprises two ultrasonic sensors arranged on the two sides of a front bumper, a master controller, a steering wheel angle sensor, an electric power steering system and four wheel speed sensors; the ultrasonic sensors are connected with the master controller through an LIN bus. The steering wheel angle sensor communicates with the master controller through a CAN bus. The wheel speed sensors are connected with the master controller through the CAN bus. The master controller outputs an angle command to the electric power steering system through the CAN bus. A path tracking controller in the master controller is a sliding-mode active-disturbance-rejection controller, and can observe uncertainty of external disturbance and compensate for the uncertainty.

Description

Technical field: [0001] The invention relates to a parking system and a parking method, in particular to a parallel parking system and a parking method based on sliding mode active disturbance rejection control. Background technique: [0002] With the rapid development of the world's automobile industry, the contradiction between the rapid growth of automobile production and sales and the less and less available parking space has become increasingly prominent. Parking on crowded city streets is becoming increasingly difficult, especially for inexperienced drivers. On-street parking is also called parallel parking. It requires good driving skills, rich driving experience, and quick response to quickly reverse the vehicle into a small parking space. In order to improve driving comfort and safety, it is imminent to develop an intelligent parallel parking assistance system. The parallel parking system can use ultrasonic sensors and cameras to identify effective parking spaces,...

AI Technical Summary

Problems solved by technology

However, the above-mentioned control method has the following deficiencies: the path tracking robustness of vehicles with different wheelbases is not considered; the control rules of fuzzy control are difficult to formulate and engineering applications are difficult; sliding mode control needs to know the precise mathematical model of the controlled Obtaining an accurate model of the object is almost impossible

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