應用自組織模糊控制器於自動路邊停車之設計

Design of Autonomous Parallel Parking Using Self-Organizing Fuzzy Controller

黃義文(Yi-Wen Huang)

指導教授 ： 陳柏全

國立臺北科技大學/機電學院/車輛工程系所/碩士(2009年)

https://doi.org/10.6841/NTUT.2009.00555

摘要

本文主要是探討如何應用自組織模糊控制器進行自動路邊停車控制策略之設計。首先是利用超音波雷達建立停車空間與車輛之相對關係，進行參考停車軌跡與轉向角規劃。接著利用參考轉向角進行前饋補償，並設計一個自組織模糊控制器，利用軌跡估測得到車輛與參考停車軌跡之側向位置誤差與方位角誤差進行回饋控制，以修正轉向角控制命令。初步模擬與實驗結果顯示，使用前饋補償的自組織模糊控制器有較佳之軌跡追蹤能力，並可縮短所需的停車空間長度需求。

關鍵字

自動路邊停車 ； 超音波雷達 ； 軌跡估測 ； 自組織模糊控制器

並列摘要

Control strategy design of autonomous parallel parking using a self-organizing fuzzy controller (SOFC) is proposed in this paper. Ultrasonic radars are used to establish the parking space relative to the vehicle. Trajectory planning can be applied to obtain the reference trajectory and steering angle. The reference steering angle is used for feed-forward compensation. Trajectory estimation is used to obtain the lateral position error and orientation error with respect to the reference trajectory. These two errors are inputs to the SOFC and the control output is the steering angle correction. Preliminary simulation and experimental results show that the proposed SOFC with feed-forward compensation can achieve better trajectory following and reduce the length requirement of parking space.

並列關鍵字

autonomous parallel parking ； ultrasonic radar ； trajectory estimation ； self-organizing fuzzy controller

參考文獻

[2] Par Degerman, Jochen Pohl and Magnus Sethson, "Hough Transform for Parking Space Estimation Using Long Range Ultrasonic Sensors," SAE Technical Papers, 2006-01-0810, 2006.

[3] 趙曉天，車輛側撞警示策略與側邊環境偵測，碩士論文，國立臺北科技大學車輛工程系所，台北，2007

[4] Ho Gi Jung, Young Ha Cho, Pal Joo Yoon and Jaihie Kim, "Scanning Laser Radar-Based Target Position Designation for Parking Aid System," IEEE Transactions on Intelligent Transportation Systems, Vol. 9, No. 3, 2008

[5] Chi Gun Choi, Dong Suk Kim, Ho Gi Jung and Pal Joo Yoon, "Stereo Vision Based Parking Assist System," SAE Technical Papers, 2006-01-0571, 2006

[6] Jin Xu, Guang Chen and Ming Xie," Vision-Guided Automatic Parking for Smart Car," IEEE Intelligent Vehicles Symposium, 2000 , pp. 725–730