[1]陈文强.平行泊车系统轨迹规划与运动控制方法[J].福建工程学院学报,2022,20(03):251-257.[doi:10.3969/j.issn.1672-4348.2022.03.008]
　CHEN Wenqiang.Trajectory planning and motion control method of parallel parking system[J].Journal of FuJian University of Technology,2022,20(03):251-257.[doi:10.3969/j.issn.1672-4348.2022.03.008]
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平行泊车系统轨迹规划与运动控制方法()
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《福建工程学院学报》[ISSN:2097-3853/CN:35-1351/Z]

卷:
第20卷
期数:
2022年03期
页码:
251-257
栏目:
出版日期:
2022-06-25

文章信息/Info

Title:
Trajectory planning and motion control method of parallel parking system
作者:
陈文强
福建汉特云智能科技有限公司
Author(s):
CHEN Wenqiang
Fujian Hantewin Intelligent Technology Co., Ltd.
关键词:
平行泊车; 二次规划; 模型预测控制; Prescan/Simulink
Keywords:
parallel parking;  quadratic programming;  model predictive control;  Prescan/Simulink
分类号:
TP273
DOI:
10.3969/j.issn.1672-4348.2022.03.008
文献标志码:
A
摘要:
为解决城市狭小空间内泊车难的问题，提出了针对平行泊车位的自动泊车系统轨迹规划与运动控制策略。在轨迹规划层采用圆弧切直线的几何方法进行泊车路径规划，利用三次样条插值保证路径曲率连续，基于二次规划求解满足泊车过程约束的最优速度曲线。跟踪控制层建立车辆运动学模型，基于PID和MPC分别设计纵向及横向控制器，实现对期望轨迹进行跟踪。通过Prescan/Simulink联合仿真进行了验证。结果表明：所提出的自动泊车轨迹规划与运动控制策略能够使车辆精确、平稳地泊入平行车位。
Abstract:
In order to solve the problem of parking difficulty in urban narrow spaces, the trajectory planning and motion control strategy of automatic parking system for parallel parking were proposed. In the trajectory planning layer, the geometric method of arc tangent line was used for parking path planning, the cubic spline interpolation was used to ensure the continuity of path curvature, and the optimal speed curve satisfying the constraints of parking process was solved based on quadratic programming. In the tracking control layer, the vehicle kinematic model was established, and the longitudinal and lateral controllers were designed respectively based on PID and MPC to track the desired trajectory. Prescan/Simulink co-simulation was used to verify the results. Results show that the proposed automatic parking trajectory planning and motion control strategy can make the vehicle park into the parallel parking space accurately and smoothly.

参考文献/References:

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更新日期/Last Update: 2022-06-25