基于车载自组织网络的泊车调度与自动泊车系统设计

发布时间：2019-01-19 14:48

【摘要】：在交通拥堵的城市快速找到最优的泊车位是一个较难的问题,而由泊车引起的事故也越来越多,因此,寻车位难和泊车难的问题得到广泛关注。本文针对这两个问题进行深入研究。主要研究内容概括如下:(1)针对在趋于饱和的停车场寻车位难的问题,通过车载自组织网络交换可用泊车位信息传达给感兴趣的司机。在泊车位和车辆相关的区域内有效传播可用泊车位信息,一个适当的协议是必要的。此外,多个车辆对同一个车位感兴趣将导致车辆之间的竞争。为了解决这个问题,本文详细介绍了车辆的预订协议,通过车载自组织网络有效地分配泊车位,并避免了车辆之间的竞争。(2)针对低速平行泊车转向工况,本文提出一种自动泊车路径规划方法。路径规划方法由两部分组成。首先,车辆的运动学模型具有相应的几何形状,用来创建一个泊车路径,并考虑当空间狭小时,通过多次微调实现泊车,此路径由圆弧构成;其次,考虑曲率连续性采用回旋曲线设计路径。并通过matlab仿真实验验证其有效性。(3)将自抗扰控制(Active Disturbance Rejection Control,简称 ADRC)方法应用到低速泊车路径跟踪中,提高了车辆泊车精度侧向控制问题。考虑泊车速度变化、转向机械部分运动学模型不确定性以及转向系统延迟,建立基于ADRC方法的路径跟踪控制器。利用实验车进行平行泊车系统实车测试,验证了路径跟踪控制器的有效性。
[Abstract]:It is difficult to find the best parking space quickly in congested cities, and the accidents caused by parking are becoming more and more frequent. Therefore, the problem of finding parking spaces and parking difficulties has been paid more and more attention. This article carries on the thorough research to these two questions. The main research contents are summarized as follows: (1) aiming at the difficult problem of finding parking space in the saturated parking lot, the information of available parking space is exchanged through the vehicle-borne ad hoc network to the interested drivers. An appropriate protocol is necessary for the effective dissemination of available parking space information in parking and vehicle-related areas. In addition, multiple vehicles interested in the same parking space will lead to competition between vehicles. In order to solve this problem, this paper introduces the vehicle reservation protocol in detail, allocates parking spaces efficiently through the vehicle-borne ad hoc network, and avoids the competition between vehicles. (2) aiming at the low speed parallel parking steering condition, This paper presents an automatic parking path planning method. The path planning method consists of two parts. First of all, the kinematics model of the vehicle has the corresponding geometric shape, which is used to create a parking path, and when the space is small, parking is realized through several fine adjustments. The path is made up of circular arc. Secondly, considering the continuity of curvature, the path is designed by the cyclotron curve. The simulation results of matlab show its effectiveness. (3) the auto disturbance rejection control (Active Disturbance Rejection Control,) method is applied to the low speed parking path tracking to improve the vehicle parking accuracy. A path tracking controller based on ADRC method is established considering the change of parking speed uncertainty of partial kinematic model of steering machinery and the delay of steering system. The experimental vehicle is used to test the parallel parking system, and the effectiveness of the path tracking controller is verified.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN929.5;U463.6

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