超声波测距的模糊控制泊车系统模型设计

设计了一种基于超声波测距的自动泊车系统模型。首先对小车运动模型进行分析,结合实际设计垂直、平行、斜行三种泊车模糊控制器,并且在Matlab的Simulink中分别进行仿真验证。采用超声波测距技术、视频采集技术等来获取周围环境数据,按照实际车辆和车库的大小,通过等比例缩放设计小车模型和车库模型,并把验证通过的模糊控制器转换为C代码,嵌入到飞思卡尔K60主控制板中进行自动泊车可行性测试。经测试,当模型车的航向角在-32°~+32°范围内时,实现了模型车在0.92倍标准大小模型车库内的自主泊车。

Design of Fuzzy Control Parking System Model Based on Ultrasonic Distance Measurement

An automatic parking system model based on the ultrasonic distance measurement is designed. On the basis of analyzing the car movement model, three kinds of parking fuzzy controllers（vertical, parallel and oblique） are designed combining actual situation, and they are verified respectively in Matlab Simulink. Ultrasonic distance measurement technology and video capture technology are used to get the data from surrounding environments, and car/garage models are designed through the isometric zoom according to the actual ratios. Then the verified fuzzy controllers are converted to C code,and they are embedded into the main control board of Freescale K60 to complete automatic parking feasible tests. Test results show that when the heading angles of model cars are within --32 and ＋32, the autonomous parking of model cars is implemented in the model garage whose size is 0.92 times of the standard size.