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： 141802004 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 141802004 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 141802004 刘小荷 （南京师范大学电气与自动化工程学院） [摘要]: