模拟超声波测距误差对平行泊车性能的影响

2016 3rd International Conference on Advances in Computational Tools for Engineering Applications (ACTEA) Pub Date : 2016-07-01 DOI:10.1109/ACTEA.2016.7560123

Rohit Garg, Gabriele S. Zanardo, Roman Schmied, L. Re

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引用次数: 0

摘要

研究了传感器误差对智能泊车辅助系统平行泊车性能的影响。一种路径规划算法被用来生成一个轨迹，使汽车在一次试验中进入空白空间。为了跟踪规划算法生成的轨迹，对车辆的横向转向控制采用了不同的控制方案。控制方案包括PD和非线性控制的不同组合。所有的模拟都是在IPG maker®和Simulink®环境中进行的。在仿真环境中对定位误差和传感器误差进行建模，并将其应用于某汽车制造商的理想超声传感器模块。通过多次并行停车仿真，分析了不同控制方案下这些误差对停车性能的影响。

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Simulating the effect of ultrasonic ranging errors on parallel parking performance

This paper investigates the effect of sensor errors on the parallel parking performance of an intelligent park assist system. A path planning algorithm has been employed for generating a trajectory that maneuvers the car into the empty space in one trial. Different control schemes have been implemented for lateral steering control of the vehicle to track the trajectory generated by the planning algorithm. The control schemes include different combinations of PD and non-linear control. All simulations are carried out within the IPG CarMaker® and Simulink® environments. Positioning and sensor errors are modeled in the simulation environment and are applied to an ideal ultrasonic sensor module from CarMaker. Multiple parallel park simulations are run and the effect of these errors on the parking performance is shown with respect to the different control schemes employed.

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2016 3rd International Conference on Advances in Computational Tools for Engineering Applications (ACTEA)

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