基于路径规划和双闭环控制的泊车系统研究

Study of autonomous vehicle parking system based on path planning and the double-closed loop method

针对智能车辆垂直自主泊车的要求,采用分层自适应的方法设计了1种自动泊车系统,主要通过高精度的激光雷达进行车位的检测,运用轮速传感器进行车辆的定位,规划出了1条三段式泊车轨迹,并且采用了多路双闭环的控制算法对车辆进行轨迹跟踪控制。实验表明,该套系统可以有效地实现车辆的自主泊车,且控制精度高,系统稳定。

According to the requirement of autonomous vehicle parking of intelligent vehicles,a autonomous parking system based on the method of hierarchical adaptive control is designed in this paper,which mainly takes laser radar as sensor to detect the parking space.By using the wheel speed sensor to locate the vehicle,this system plans a parking trajectory with three steps,and use the multiplex double-closed loop method for the trajectory tracking control of the vehicle.The experiment shows that this system can realize the vehicle＇s autonomous vertical parking with high control precision and good control effect.