Study on tracking control of parking path with cloud model

摘要

At present, in order to solve the difficulty of path tracking control in auto parking system, the path tracking controller is designed by the use of more rule-based reasoning model with reasoning method of cloud model. The controller, which is based on low-speed model of steering wheel angle deviation as input and get the control parameters in the process of parking control the car tracking the path on the model of low-speed model. In the simulation process, adjusting the cloud value can increase parking tracking effect. Simulation results show that the controller can realize the parking path tracking, and it has better robustness. The tracking effect is good.