吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (3): 785-791.doi: 10.13229/j.cnki.jdxbgxb201603016

• Orginal Article • Previous Articles     Next Articles

Multiple segment method for automatic parking path planning and its key technology

QIAN Li-jun1, HU Wei-long1, 2, LIU Qing3, WU Bing1   

  1. 1.School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009,China;
    2.Postdoctoral Work Station, Anhui Jianghuai Automobile Co., Ltd., Hefei 230601,China;
    3.Project Management Department, Taian Aerospace Special Vehicle Co. Ltd. Taian 271000,China
  • Received:2014-11-10 Online:2016-06-20 Published:2016-06-20

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Abstract: A strategy to turn the steering wheel uniformly while parking is put forward to design a parking path with more consistency and fewer calculations. First, the trajectory of the center point on rear axle is deduced while the vehicle is driven at low speed and the steering wheel is turned uniformly. Second, the parking process is divided into five stages and the parameters of the optimized path are obtained according to obstacle avoidance. Third, the vehicle speed control system based on the PID closed-loop feedback theory is designed, and experiments show that the real speed matches the expected speed. Fourth, the signal of the torque sensor needed by EPS controller is simulated by parking controller; then the steering wheel rotational speed control system is designed, and relationship between the torque and rotational speed is obtained by system identification. Experiments show that the degree of fitting between torques given by system identification and real torques is above 96%. Finally, the change of vehicle speed, rotating angle of the steering wheel, accelerator and brake of two segment parking and five segment parking are obtained. Comparison of two segment parking and five segment parking shows that five segment parking has higher consistency.

Key words: engineering of communication and transportation system, automatic parking, path planning, vehicle speed control, steering wheel rotational speed control

CLC Number: 

  • U463.67
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