两种自主泊车路径规划方法的对比研究

路径规划是智能车辆导航的基本环节之一.根据车辆的运动学模型和实际的泊车过程提出了改进的最小半径和不等半径两种几何路径规划方法.经计算机仿真表明两种路径规划方法的适用范围均明显扩大,同时提出的两种方法的结合应用还能从整体上优化泊车过程.所提的方法对自主泊车的路径规划研究具有一定的参考价值.     

基于智能手机的寻泊软件设计

为缓解城市找车位难和泊车难的问题,设计了一种基于智能手机的寻泊软件,提出了一种智能手机寻泊系统框架,采用自定义的数据交互协议作为系统通信协议,在数据能够通过Winsock数据交互平台进行数据交互的基础上,该系统采用接入停车场内车位统计资料的泊车位查询机制.阐述了基于智能手机的泊车位查询客户端软件设计,可通过输入地址查询和定位查询2种方式进行停车场内泊车位查询,并使用百度地图服务将泊车位信息标注在地图上.同时,从最佳用户体验出发,还对客户端其它子项进行了功能上及界面上的设计.通过实例测试,该系统成本低廉、功能上基本满足用户需求,能够有效缓解寻车位难和泊车难的问题,提高用户泊车效率.     

平行泊车的路径规划方法及其仿真研究

根据车辆运动学模型,提出一种基于多段圆弧和直线的平行泊车路径规划方法,考虑动力学约束条件,将倒车过程逆化,以此来确定圆弧半径和切点位置,通过避碰约束给出泊车起始位置的范围,通过最小泊车位约束给出最佳起始位置,同时在matlab的环境下对此路径规划方法进行仿真研究,研究结果表明,采用这种方法不仅成功的实现了泊车和避障,而...     

超声波传感器在倒车雷达上的发展

倒车雷达是汽车泊车或者倒车时的安全辅助装置,能以声音或者更为直观的视频显示告知驾驶员周围障碍物的情况,解除了驾驶员泊车、倒车和起动车辆时前后左右探视所引起的困扰,并帮助驾驶员扫除了视野死角和视线模糊的缺陷,提高驾驶的安全性,如图1所示。     

超声波传感器在倒车雷达上的发展

倒车雷达是汽车泊车或者倒车时的安全辅助装置,能以声音或者更为直观的视频显示告知驾驶员周围障碍物的情况,解除了驾驶员泊车、倒车和起动车辆时前后左右探视所引起的困扰,并帮助驾驶员扫除了视野死角和视线模糊的缺陷,提高驾驶的安全性,如图1所示。     

基于模糊控制的无线自动泊车系统关

为降低泊车操作的难度,减少因泊车引发的事故,以LABVIEW为开发平台,运用现代图像处理技术、无线通信技术及模糊控制理论设计了自动泊车系统.介绍了用图像处理技术获得汽车的位置信息及方向信息的方法,详细阐述了运用模糊控制理论设计自动泊车控制器的过程,以及用单片机MSP430F149及无线收发芯片nRF905搭建无线通信模...     

西安供电局GPS抢修车辆监控调度系统技术分析

西安供电局建成的GPS抢修车辆监控调度系统结合了GPS全球卫星定位技术、GSM移动通信技术、GIS地理信息技术、移动车载设备和先进的计算机信息管理网络等先进科技,首开西北地区GPS车辆监控调度系统之先河.实现了对抢修车辆的定位跟踪、历史轨迹回放、最优路径选择和调度管理,大大缩短了车辆的调度时间,提高了故障处理能力.     

多网融合下的车辆智能调度系统设计与实现

本文自主设计与实现了多网融合下的一个智能车辆调度系统.首先给出了其体系结构与功能,详细阐述了车辆移动端与调度中心的实现原理与关键技术.在调度中心模块中,提出了一种新颖的基于蚂蚁算法的车辆调度模型并讨论了具体的算法步骤.在此基础上,自主实现了该系统.在实际运用实践中表明,该系统取得了良好的效果,大大提高了车辆调度效率.设计的系统不仅可用于车辆的调度,而且可以运用于船只等多个领域,为ITS的研究提供了可靠的技术支持.     

面向无人驾驶的三轴应急救援车辆并行控制方法

为实现应急救援车辆轨迹跟踪和横向稳定的优化协调,提出了一种基于哈密顿函数的车辆非线性并行控制方法。 分别 建立了车辆动力学模型和轨迹跟踪模型,通过模型变换将车辆动力学模型和轨迹跟踪模型表示为具有相同控制输入的状态方 程,从而将轨迹跟踪和横向稳定协调控制问题转化为一类非线性并行控制问题,分别设计了轨迹跟踪控制和横向稳定性控制的 哈密顿函数,讨论并证明了基于车辆特性的控制器设计存在条件,提出了一种兼顾应急救援车辆轨迹跟踪和横向稳定控制性能 的非线性并行控制方法,并证明了控制系统稳定性。 结果表明,并行控制下的轨迹跟踪精度和稳定性控制精度分别提升了 10. 13%和 13. 79%,从而验证所设计方法能够更好地实现应急救援车辆轨迹跟踪和横向稳定的协调控制。     

倍福基于PC的控制技术用于自动泊车系统中的自动导引车 优化使用杜塞尔多夫机场的停车场以节约宝贵时间

<正>在同一停车空间内,容纳尽可能多的汽车并具有避免经常需要搜索可停车位的能力是德国杜塞尔多夫机场基于Serva公司的自动泊车系统的PremiumPlus泊车服务给用户带来的其中一项好处。昵称为"Ray"的全自动泊车机器人采用Beckhoff基于PC的控制系统,可以确保实现可靠、无故障的停车管理。     

Power-steering control architecture for automatic driving

The unmanned control of the steering wheel is, at present, one of the most important challenges facing researchers in autonomous vehicles within the field of intelligent transportation systems (ITSs). In this paper, we present a two-layer control architecture for automatically moving the steering wheel of a mass-produced vehicle. The first layer is designed to calculate the target position of the steering wheel at any time and is based on fuzzy logic. The second is a classic control layer that moves the steering bar by means of an actuator to achieve the position targeted by the first layer. Real-time kinematic differential global positioning system (RTK-DGPS) equipment is the main sensor input for positioning. It is accurate to about 1 cm and can finely locate the vehicle trajectory. The developed systems are installed on a Citroe/spl uml/n Berlingo van, which is used as a testbed vehicle. Once this control architecture has been implemented, installed, and tuned, the resulting steering maneuvering is very similar to human driving, and the trajectory errors from the reference route are reduced to a minimum. The experimental results show that the combination of GPS and artificial-intelligence-based techniques behaves outstandingly. We can also draw other important conclusions regarding the design of a control system derived from human driving experience, providing an alternative mathematical formalism for computation, human reasoning, and integration of qualitative and quantitative information.     

基于ZigBee的小区停车场智能管理系统设计

介绍了一种基于ZigBee无线技术的小区停车场管理系统的设计方法。该系统前端将ZigBee协调器安装在停车场的每个进出口,由协调器将读出的信息通过ZigBee无线网络传输到控制系统。控制系统在实现对小区车辆进行科学管理的同时,实时采集车辆的安全信息,和防盗报警相结合确保车辆安全管理。     

多工况下自动泊车系统停车位识别方法研究

针对自动泊车系统需要对多工况下的停车位进行正确识别的问题,提出了一种基于摄像头和超声波传感器进行距离和 视觉信息融合的停车位识别方法。 该方法首先通过摄像头和超声波传感器对停车位进行识别,识别成功则输出停车位类型,否 则融合摄像头、超声波传感器和车轮速传感器的信息得出车辆的车身姿态特征参数,通过模糊推理方法输出相应的停车位类 型。 然后,多工况下停车位识别仿真模型在 MATLAB 上被搭建,并针对不同的停车位场景进行了仿真分析,仿真结果表明了该 方法的合理性和可靠性。 最后,在多工况下对该方法进行了实车实验,停车位识别正确率超过了 90%,表明了该方法具有实际 应用的可行性。     

Autonomous Vehicle Control using LIDAR and Camera with CAN Network

An autonomous vehicle operates in a dynamically changing environment, where multiple sensors must work in a cooperative mode. In these scenarios reliability of the communication protocol carries a lot of importance in real time data transfer. In this paper, CAN communication is used to demonstrate sensor integration using a LIDAR and a camera. Also demonstrated is a novel method for object detection, obstacle avoidance and navigation of an autonomous RC vehicle.     

无人驾驶汽车转向控制单元设计

无人驾驶汽车转向控制单元控制转向系统工作,是实现无人驾驶的关键技术.本文介绍了一种结构简单、易于实现且工作可靠的无人驾驶汽车转向控制单元设计方案.无人驾驶汽车转向控制单元通过CAN总线接收来自中央控制系统发送的转向指令,并按一定的控制策略控制转向系统工作,实现自动转向.文中给出了转向控制单元硬件电路与控制策略设计思路.对设计的转向控制单元进行了实车试验,结果表明,该单元能够控制转向系统实现准确、快速、平稳转向,满足了无人驾驶汽车转向要求.     

具有惯性传感装置的四轮全向驱动小车设计

机器人运动控制系统中为了提高小车高速运动时轨迹跟踪的准确性,设计了一种具有惯性传感装置的四轮全向驱动小车。运动控制系统处理器采用TMS320F2812型双数字信号处理器(DSP)芯片,小车的惯性传感装置由MENS加速度传感器、电子罗盘和陀螺仪组成,成本低廉工作可靠。     

Autonomous Navigation of Vehicles from a Visual Memory Using a Generic Camera Model

In this paper, we present a complete framework for autonomous vehicle navigation using a single camera and natural landmarks. When navigating in an unknown environment for the first time, usual behavior consists of memorizing some key views along the performed path to use these references as checkpoints for future navigation missions. The navigation framework for the wheeled vehicles presented in this paper is based on this assumption. During a human-guided learning step, the vehicle performs paths that are sampled and stored as a set of ordered key images, as acquired by an embedded camera. The visual paths are topologically organized, providing a visual memory of the environment. Given an image of the visual memory as a target, the vehicle navigation mission is defined as a concatenation of visual path subsets called visual routes. When autonomously running, the control guides the vehicle along the reference visual route without explicitly planning any trajectory. The control consists of a vision-based control law that is adapted to the nonholonomic constraint. Our navigation framework has been designed for a generic class of cameras (including conventional, catadioptric, and fisheye cameras). Experiments with an urban electric vehicle navigating in an outdoor environment have been carried out with a fisheye camera along a 750-m-long trajectory. Results validate our approach.     

A multi-objective optimization problem for allocating parking lots in a distribution network

This paper presents a multi-objective approach to determine optimal site and size of parking lots, which provide vehicle to grid (V2G) power in distribution system as new type of distributed generations (DGs). In this approach, the reliability of distribution system and power losses along with investment cost are considered in optimization problem. This optimization problem is solved using genetic algorithm (GA) method. Simulation study is carried out on a nine bus test system. The results of simulations show that the economic issue of parking lots installation depends on many factors such as availability of electric vehicles (EVs) as well as the electricity price. Also, it is shown that by taking enough incentive for EVs owners, optimal sitting and sizing of parking lots has economical benefit for distribution system companies. Also, optimal allocation of parking lots can improve the distribution system voltage profile.