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工程设计学报
工程设计学报  2015, Vol. 22 Issue (3): 295-300    DOI: 10.3785/j.issn. 1006-754X.2015.03.015
通用零部件设计     
语音泊车时滞影响及轨迹动态调整策略研究
华一丁1，江浩斌1,2，马世典2，吴  狄1，沈峥楠1，李臣旭1
1.江苏大学 汽车与交通工程学院, 江苏 镇江 212013；2.江苏大学 汽车工程研究院， 江苏 镇江 212013
Research on time-delay impact and trajectory dynamical adjustment strategy of voice-assisted semi-automatic parking system
HUA Yi-ding1，JIANG Hao-bin1,2，MA Shi-dian2，WU Di1，SHEN Zheng-nan1，LI Chen-xu1
1.School of Automotive and Traffic Engineering， Jiangsu University, Zhenjiang 212013, China;2.Automotive Engineering Research Institute， Jiangsu University， Zhenjiang 212013, China
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摘要： 针对语音辅助半自动泊车系统中的时滞导致泊车轨迹误差较大的问题，建立辅助泊车运动学模型，提出水平侧方车位泊车轨迹的规划方法和控制策略.采用3次多项式拟合推导出以车辆与目标车位横向间距D为变量的泊车轨迹分段逼近函数，仿真分析了语音辅助半自动泊车系统中时滞对实际泊车轨迹的影响.分别以泊车轨迹每段弧长为自变量，以泊车横、纵向偏差为评价指标，推导了各段轨迹弧长偏差与最终泊车位置偏差的关系，通过仿真对泊车路径偏差进行了容差分析，提出了基于查表法的泊车动态调整控制策略，并通过软件编程实现.最后通过4名驾驶员分组试验，验证了泊车动态调整策略的有效性.
关键词： 系统时滞;  泊车轨迹;  容差范围;  动态调整策略    
Abstract: To solve the parking trajectory error caused by time-delay in voice-assisted semi-automatic parking system, a kinematics model of auxiliary parking was established. And also parking planning methods and control strategies based on horizontal parking spaces were proposed. Using the 3-order polynomial fitting to deduce the piecewise approximation function of parking trajectory which took the lateral distance D between the vehicle and the target parking space as the variable, the impact of time-delay on actual trajectory in voice-assisted semi-automatic parking system was simulated and analyzed. Parking trajectories were independent variables, and the horizontal and vertical deviation of parking trajectory were evaluation indices. Relations between each trajectory deviation and the final parking position deviation were derived. Through simulation, tolerance analysis for parking path deviation was conducted. The parking dynamical adjustment strategy was proposed based on the method of table look-up, and also it was achieved through software programming. Finally, group tests from 4 drivers verified the validity of parking dynamical adjustment strategy.
Key words: system time-delay    parking trajectory    tolerance range    dynamical adjustment strategy
收稿日期: 2014-10-28 出版日期: 2015-06-28
基金资助:

交通运输部信息化项目（2013-364-836-900）；江苏省产学研联合创新项目（BY2012173）.
作者简介: 华一丁（1989—），男，天津人，博士生，从事汽车动态模拟与仿真研究，E-mail： dingyihua0209@163.com.
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引用本文:

华一丁，江浩斌，马世典，吴 狄，沈峥楠，李臣旭. 语音泊车时滞影响及轨迹动态调整策略研究[J]. 工程设计学报, 2015, 22(3): 295-300.

HUA Yi-ding，JIANG Hao-bin，MA Shi-dian，WU Di，SHEN Zheng-nan，LI Chen-xu. Research on time-delay impact and trajectory dynamical adjustment strategy of voice-assisted semi-automatic parking system. Chinese Journal of Engineering Design, 2015, 22(3): 295-300.

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https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn. 1006-754X.2015.03.015    或    https://www.zjujournals.com/gcsjxb/CN/Y2015/V22/I3/295

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