【摘要】 分析了汽车低速倒车过程中的运动学特性,以及汽车在倒车过程中车身与停车位以及障碍物之间可能发生的碰撞,同时根据汽车与车位之间的几何约束规划倒车路径,确定平行泊车的预备倒车区域,实现平行泊车的转向策略,以便追踪规划的路径,避免发生碰撞。在SIM-ULINK中搭建某轿车的运动学模型以及模拟平行泊车的倒车环境。将转向控制策略引入应用SIMULINK所建立的系统中仿真模拟该轿车的平行泊车过程。通过仿真验证了该策略实现平行泊车的可行性。更多还原

【Abstract】 The kinematic behavior of the car in the low-speed back-up process and the collision possibility between the car body and the obstacle in the parking space were analyzed,and the starting area for the back-up under parallel parking condition was determined according to the back-up path from the geometric constrains of the car body by the parking space.A steering strategy for the parallel parking was realized to trace the planned path to avoid collision.A kinematic model was built for a certain car in SIMULINK to simulate the car back-up environment of parallel parking.The parallel parking process of the car was simulated by introducing the steering control strategy into the system built using SIMULINK.The simulated results verified the feasibility to realize the parallel parking by the proposed strategy.更多还原