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Research on Track Reckoning of Automatic Parking System Based on Multi-information Fusion

Motion control is one of the key technologies in automatic parking system. The vehicle real-time positioning information plays a fundamental role in motion control. The automatic parking scene is essentially an low-speed unmanned scene in a small area. This paper mainly studies the vehicle positioning technology in this scene, namely the Closed- loop update of parking spot. Considering the high price of equipment used in general vehicle positioning technology, this paper selects the vehicle positioning technology with simple and low cost equipment. Firstly, the positioning accuracy of traditional track reckoning is confirmed, and the simulation with carsim & simulink is used to verify the track reckoning ability. Secondly, the method of track reckoning with speed is proposed to locate moving vehicle in real time. Finally, due to the inaccurate wheel speed of vehicle at low speed in real vehicle verification section, an improved method of track reckoning used multi-information is proposed. The method combines the advantages of traditional and wheel speed methods of track reckoning to complete the track reckoning better. The software simulations and real vehicle tests about parallel parking trajectory show that the track reckoning with multi-information fusion is superior in Closed- loop update of parking spot.