Automatic parking system control strategies and algorithms

As a representative of the development of intelligent vehicle system, automatic parking system will be an important one security parking assist system. Parking for a variety of complex conditions, the system environment by detecting and parking control vehicle speed and steering angle through the automatic parking. The face of growing urbanization and increasingly complex environment, parking, automatic parking system appears to attract the attention of many buyers. Study is based control strategy for automatic parking system, focusing on specific research includes: (1) analysis of a barrier-type and non-barrier type parking environment, refer to my garage of building design, the establishment of a numerical model of the environment for the automatic parking the correct implementation of vehicle control strategy provides the background.At the same time, and established a coordinate system to achieve the vehicle positioning in a parking environment for path planning provides the basis for parking. (2) introduces Bezier curves in computer graphics knowledge, making the vehicle path planning by the curve of planning level down to the point of planning which simplifies the planning process has been smooth and continuous path of parking. (3) for a parking barrier and barrier-free environment, to develop a different control strategies in order to complete path planning for parking, automatic parking. Knowledge through the application of ant colony algorithm to have impaired the grid model of the environment targeted to achieve a vehicle obstacle avoidance process, to ensure vehicle safety. (4) using ADAMS / View to establish a virtual vehicle model, automatic parking control strategy for the establishment of a charged object. (5) Based on MATLAB / Simulink to establish a barrier-free parallel parking, barrier-free parking and a vertical barrier parallel to the parking model, PID control will be introduced to the automatic parking system, which tracked the path and through the joint virtual vehicle model simulation to verify the correctness of automatic parking control strategy. The main innovation of the research are as follows: (1) Bezier curve as the theoretical basis points by analyzing the environmental characteristics of parking, parking path planning done by splicing between the Bezier curve to achieve a smooth transition path planning; (2 ) theory of ant colony optimization algorithm to achieve a barrier in the parking environment, path planning, obstacle avoidance automatic completion of the parking operation to ensure the safety of the vehicle. 

Keywords: automatic parking system; path planning; Bezier curve; ant colony algorithm; Simulation