A Low Speed Control Algorithm Based on Fuzzy-PI

摘要

In order to implement high control performance at low speed (2～5 Km/h) for automatic parking system, a speed control algorithm is proposed based on Fuzzy-PI in this paper. First, the desired speed curve is programmed by taking advantage of Laplace-Gaussian curve. In order to avoid fuzzy blind areas, the fuzzy factors of speed error and change rate are adjusted in real-time. Thus, the accuracy of the domain is improved. Then, the desired brake pressure of Electronic Vacuum Booster (EVB) is calculated based on adaptive fuzzy and incremental algorithms. Evaluation on simulation and vehicle test demonstrates that the system based on the improved Fuzzy-PI algorithm can track the desired speed steadily and quickly. The speed and acceleration error during the control process are -0.5～0.5 Km/h and -1～0.5 m/s~2 respectively.