Abstract: Automatic charging devices are difficult to connect accurately when autonomous parking system is combined with automatic charging system. To solve this problem, a precise adjustment strategy of autonomous parking is proposed. Under the framework of “forward-backward-parking” motion adjustment, combining heading angle deviation control on forward motion, lateral position deviation control on backward motion, and accurate parking control, precise adjustment of connecting position deviations can be realized by this strategy. Simultaneously, two points matching method based on preview angle and the bidirectional retrieval strategy based on preview front viewpoint matching are proposed to improve the single-point preview method. The experimental results on a real vehicle show that the proposed precise adjustment strategy of autonomous parking can decrease the longitudinal and lateral deviations of the parking stop position, and improve connecting accuracy and connecting success rate of automatic charging devices.

Key words: autonomous parking, automatic charging, precise adjustment, single point preview