基于无模型自适应控制的自动泊车方案

提出一种基于无模型自适应控制的自动泊车方案.首先,通过车载传感器采集车周环境信息用于规划期望路径;然后,将自动泊车跟踪问题转化为预瞄偏差角跟踪问题,通过设计相应的无模型自适应控制算法实现自动泊车.该方案设计的优点是仅使用自动泊车过程中生成的前轮转角输入数据和预瞄偏差角输出数据,没有使用任何被控车辆的信息,因此可适用于不同车型. Matlab仿真以及与PID控制方案和Fuzzy控制方案的对比仿真结果验证了所提出方案的可行性.

Model-free adaptive control based automatic parking scheme

This paper proposes a control scheme based on model-free adaptive control for automatic parking. In this scheme, the vehicle environment information is collected by the on-board sensor to plan the desired path. Then, the tracking problem of automatic parking is transformed into the tracking problem of preview-deviation-yaw. The automatic parking is realized by designing the corresponding model-free adaptive control algorithm. The advantage of this scheme is that only the input data of front wheel rotation angle and the output data of preview-deviation-yaw are utilized, while not using any informations of the controlled vehicle. Therefore, this scheme can be applied to different vehicles. The simulation results of Matlab and the comparison with the PID control scheme and the fuzzy control scheme verify the feasibility of the proposed scheme.