F. Guo, Y.T. Zhou, S. Qiu, H.L. Jiao, X. Zhang

Pages: 103-112

Abstract
The propagation characteristics of sound waves in ultrasonic radar are affected by factors such as temperature, humidity, wind speed, and atmospheric pressure, which reduces the accuracy of automatic parking path tracking control. Therefore, this study conducted research on automatic parking path tracking control, taking into account the influence of atmospheric conditions. Firstly, analyze the absorption and propagation losses of ultrasonic energy. Secondly, calculate the detection range of the ultrasonic radar and determine the safe distance for automatic parking. Finally, B-spline curves are used to plan the automatic parking path, and a kinematic model of the vehicle during low-speed automatic parking is constructed. Accurate front wheel steering control is used to complete the automatic parking path tracking control. The experimental results show that the maximum safe distance error of the method proposed in this paper is only 0.02m, and the path tracking control results are basically consistent with the target path.
Keywords: impact of atmospheric conditions; automatic parking; path tracking control; b-spline curve