کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Performance improvement of automated parking by considering road incline and wheel slippage

نویسندگان :

Ali Anisi¹ Moosa Ayati² Yassin Riyazi³ Ali Asadian⁴

1- دانشگاه تهران 2- دانشگاه تهران 3- دانشگاه تهران 4- دانشگاه تهران

کلمات کلیدی :

Autonomous driving،Model predictive control،Automated parking،Fuzzy control،Path tracking

چکیده :

Research and development of safe and efficient parking methods have gained significant attention in autonomous vehicle technology. This research aims to present a new method of smart parking by combining two different controllers. The first controller, a Proportional-Integral (PI) fuzzy controller, is used along the vehicle's longitudinal axis to maintain the reference speed precisely. In the meantime, the second controller, a predictive model control system (MPC), manages the vehicle's trajectory by calculating steering angles. The dynamic bi-cycle model the system uses improves the precision of control inputs. This study is notable for its comprehensive analysis of how road slopes and low friction affect automated parking techniques. These factors, commonly found in real-world situations, pose significant obstacles to the effectiveness and security of autonomous vehicles. The controllers that have been developed are designed to effectively reduce the impact of these variables in order to tackle these difficulties