本文選題：自動(dòng)垂直泊車(chē) + 模糊控制��； 參考：《大連理工大學(xué)》2015年碩士論文

【摘要】：自動(dòng)泊車(chē)技術(shù)是目前汽車(chē)智能化趨勢(shì)下的一個(gè)研究熱點(diǎn),它可以通過(guò)傳感器和控制器探測(cè)環(huán)境信息并控制汽車(chē)自動(dòng)行進(jìn)到泊車(chē)位內(nèi),從而避免駕駛員在狹小泊車(chē)空間內(nèi)進(jìn)行復(fù)雜而需要經(jīng)驗(yàn)的泊車(chē)操作,進(jìn)而有效緩解泊車(chē)難的問(wèn)題。針對(duì)現(xiàn)實(shí)生活中較為常見(jiàn)的垂直泊車(chē)情景,本文對(duì)自動(dòng)垂直泊車(chē)系統(tǒng)的模糊控制策略進(jìn)行了研究,并基于FPGA芯片對(duì)系統(tǒng)進(jìn)行了軟硬件協(xié)同的嵌入式設(shè)計(jì)。首先,從阿克曼轉(zhuǎn)向幾何原理出發(fā),推導(dǎo)出前輪轉(zhuǎn)向后輪驅(qū)動(dòng)車(chē)輛的運(yùn)動(dòng)學(xué)方程,作為泊車(chē)過(guò)程的數(shù)學(xué)理論；并依據(jù)車(chē)體參數(shù)和環(huán)境信息計(jì)算出各個(gè)初始角度下的可行初始泊車(chē)區(qū)域和倒車(chē)過(guò)程中的防碰撞約束條件。其次,根據(jù)專(zhuān)家經(jīng)驗(yàn),在MATLAB模糊工具箱內(nèi),開(kāi)發(fā)一種面向自動(dòng)垂直泊車(chē)的角度、速度雙輸出模糊控制器,使車(chē)輛不僅可以調(diào)整舵機(jī)角度倒車(chē),而且在向后倒車(chē)失敗時(shí),能夠前后移動(dòng)調(diào)整車(chē)身姿態(tài),從而可以自適應(yīng)的完成垂直泊車(chē)動(dòng)作。為了驗(yàn)證算法有效性,在Simulink內(nèi)搭建仿真模型,使用動(dòng)畫(huà)輸出的方式檢驗(yàn)?zāi)：刂破鞯目刂菩Ч�。再�?由于模糊控制器的設(shè)計(jì)存在較大主觀性并需要大量的后續(xù)調(diào)試工作,本文使用混沌算法和遺傳算法組合的優(yōu)化策略對(duì)模糊控制器的隸屬度函數(shù)參數(shù)和部分關(guān)鍵規(guī)則做優(yōu)化。從Simulink動(dòng)畫(huà)輸出易見(jiàn),優(yōu)化后模糊控制器輸出的泊車(chē)路線更加合理,泊車(chē)動(dòng)作更加簡(jiǎn)潔。最后,分析和設(shè)計(jì)超聲波傳感器在車(chē)體上的布局結(jié)構(gòu),搭建包含感知系統(tǒng)、決策系統(tǒng)和執(zhí)行系統(tǒng)的自動(dòng)垂直泊車(chē)智能車(chē)驗(yàn)證平臺(tái)；同時(shí),設(shè)計(jì)泊車(chē)系統(tǒng)的軟件流程,并使用Xilinx公司的EDK開(kāi)發(fā)平臺(tái)將優(yōu)化后的模糊控制器及車(chē)位尋找算法進(jìn)行基于FPGA的軟硬件協(xié)同嵌入式設(shè)計(jì),將設(shè)計(jì)完成的智能車(chē)驗(yàn)證平臺(tái)在垂直泊車(chē)的環(huán)境下進(jìn)行實(shí)車(chē)驗(yàn)證,對(duì)實(shí)驗(yàn)結(jié)果進(jìn)行分析。實(shí)驗(yàn)結(jié)果表明,本論文開(kāi)發(fā)的模糊控制自動(dòng)垂直泊車(chē)系統(tǒng)可以順利的完成垂直泊車(chē)動(dòng)作,進(jìn)入停車(chē)位后車(chē)身姿態(tài)良好,達(dá)到了預(yù)期的控制效果。
[Abstract]:Automatic parking technology is a research hotspot in the current trend of intelligent automobile. It can detect environmental information through sensors and controllers and control the auto moving into parking space. In order to avoid the complex and experienced parking operation in the narrow parking space, the problem of parking difficulties can be effectively alleviated. Aiming at the common situation of vertical parking in real life, the fuzzy control strategy of automatic vertical parking system is studied in this paper, and the embedded design of hardware and software of the system is carried out based on FPGA chip. Firstly, the kinematics equation of the front wheel steering and rear wheel drive vehicle is derived from the Ackermann steering geometry principle, which is regarded as the mathematical theory of parking process. The feasible initial parking area and anti-collision constraint conditions in reversing process are calculated according to the parameters of the car body and the environment information. Secondly, according to the expert experience, in the MATLAB fuzzy toolbox, a kind of angle and speed double output fuzzy controller for automatic vertical parking is developed, so that the vehicle can not only adjust the steering gear angle reversing, but also when the backward reversing fails. The body can be adjusted forward and backward, so that the vertical parking can be completed adaptively. In order to verify the validity of the algorithm, the simulation model is built in Simulink, and the control effect of fuzzy controller is tested by animation output. Thirdly, the design of fuzzy controller is subjective and needs a lot of subsequent debugging work. In this paper, the parameters of membership function and some key rules of fuzzy controller are optimized by the combination of chaos algorithm and genetic algorithm. The output from Simulink animation is easy to see, and the output of the fuzzy controller is more reasonable, and the parking action is more concise. Finally, the layout structure of ultrasonic sensor on the car body is analyzed and designed, and the automatic vertical parking intelligent vehicle verification platform including sensing system, decision making system and execution system is built. At the same time, the software flow of parking system is designed. Using the EDK development platform of Xilinx Company, the optimized fuzzy controller and parking space search algorithm are used in the hardware and software co-embedded design based on FPGA, and the completed intelligent vehicle verification platform is verified under the environment of vertical parking. The experimental results are analyzed. The experimental results show that the fuzzy control automatic vertical parking system developed in this paper can successfully complete the vertical parking movement, and the body posture is good after entering the parking space, and the desired control effect is achieved.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：U463.6;TN791

【參考文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 楊燕;基于遺傳算法的模糊控制器優(yōu)化研究[D];安徽理工大學(xué);2007年

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本文編號(hào)：1837766