Application of Fuzzy Control Strategy in Automatic Parking Path Planning
Zhao Liang, Guoqiang Zheng, Jishun Li · 2012
In order to improve the accuracy of the automatic parking system, this paper puts forward a minimum turning radius method for path planning. At first, we establishes the car kinematic model and gives out the parking process, then, the parking trajectory is planned into four stages based on the car kinematic model. Meanwhile, the starting point and constraints for parking are discussed. Finally, the fuzzy control algorithm is adopted for tracking the trajectory. The simulation results show that the vehicle can complete parking operation well by using the path we planned. And compared with using PID control method, the tracking error is smaller and the response speed is faster.