基于模糊控制理论的平行泊车系统研究

摘要

主要对运动学模型和实际平行泊车过程做出分析后，研究平行泊车的几何路径规划方法，然后结合实际，改进所提出的几何路径，从而设计出一种适应性较强的泊车几何路径．然后讨论模糊控制在自动平行泊车中的应用，分析自动泊车中的模糊控制需求，分析每个步骤的输入量和输出量，以及其模糊控制器的设计，为平行自动泊车系统画出工作流程图．%This article is focus on parallel parking system. According to the model and the actual parking process, first, the path planning method was discussed, and improved according to actual circumstances. Then a new strong adaptable parking geometrical path was designed. Second, a fuzzy control method apply on parallel parking system was analysised and also the input, output and fuzzy control rule were designed as well for each step in the automatic parking process. At last, a work flow chart for the paralle parking system was presented.