基于粒函数的智能无人驾驶泊车仿真

摘要

首先建立了小车的数学模型,采用传统的模糊控制方法对小车的自动倒车入库进行仿真,分析小车的行驶轨迹,以小车的车身参数、初始位置参数、终止位置参数为约束,对小车泊车过程的轴向角(前轮与车轴之间的夹角)进行调整,并提出基于粒函数的方法,拟合出一条精确的点响应函数,从而设计出一个粒函数控制系统.实验证明粒函数控制系统能够达到良好的效果.%This paper firstly establishes a mathematical model of car,and uses traditional fuzzy control method to make simulation on automatic parking of car.Then the paper analyzes the trace of car and regulates axial angle (between front wheel and axle),constrained by parameters of car body,starting position and target position.Lastly the paper puts forward a method based on the granular function to fit a precise function and designs a control system of granular function,and the simulation test shows that the proposed control system enables to acquire good effect.