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Based on Fuzzy Control System of Automatic reversing

Author: ZuoXiaoFeng
Tutor: LuZhiXiong
School: Nanjing Agricultural College
Course: Vehicle Engineering
Keywords: Fuzzy Control Ultrasonic Ranging Parking space probe Automatic reversing
CLC: U463.6
Type: Master's thesis
Year: 2011
Downloads: 236
Quote: 0
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Abstract


With the development of automobile industry and people's living standards improve, the number of cars increases every year, reversing accidents caused due to more and more difficult problem of reversing received extensive attention. To solve this problem, the current approach is more mature in the car reversing radar installation and other auxiliary reversing or reversing video device to the driver by voice or image of tips. This method, although to some extent eased the pressure on the driver's reversing, but did not completely solve the difficult problem of reversing, but to fundamentally solve the problem, the only way is to develop automatic reversing system, reversing the whole process automation, intelligent technology. Automatic parking system including the environmental data acquisition system, the central processor and steering control systems, environmental data acquisition system vehicle position data to determine the body and the surrounding spaces and the distance between the obstacle and the data is transferred to the central processor for processing, in order to determine Parking Programme; central processor will process the collected data analysis, the obtained current vehicle location, the destination location and the parameters of the surrounding environment, based on the above parameters to make automatic reverse strategy and converts it into an electric signal; vehicle steering After the control system receives the signal, based on instruction to make the car driving, such as angle, direction and power control aspects of support, automatic parking. This paper focuses on two parts: the experience of experts based fuzzy controller design and the use of ultrasound probe positioning system for parking and body position data acquisition. First, the analysis of the car reversing the process, as the car is reversing at low speed, we build cars instead of the kinematic model dynamics model car reversing the process to meet the Ackermann steering law. According to the kinematic model to calculate the reversing reversing initial position feasible region, and the initial heading angle is zero and non-zero conditions were studied for the back of the controller design and simulation to prepare. Learning fuzzy control theory, design input for the horizontal and vertical coordinates of the body and the body position heading angle, the output for steering rotation angle of the three input one output fuzzy controller to establish the range of input and output membership functions, from reversing the process experience of experts formed to extract fuzzy control rules, combined with Matlab design of fuzzy controller and using Simulink simulation to verify the effectiveness of the control algorithm. Design ultrasonic detection system is proposed using ultrasonic parking sensors detect and body positioning methods. DSP2812-based ultrasonic ranging system design, system hardware design includes DSP minimum system design, ultrasonic transmitter circuit, the receiver circuit design; software design including DSP initialization, interrupt service routines, subroutines, etc. Ranging design; take advantage of a system designed for measuring from the experiments and parking probe experiments, analysis of experimental results and the cause of the error and suggest improvements.

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