智能汽车非时间参考的螺旋弯曲坡道路径跟踪控制

Path Tracking Control of Spiral Curved Ramp for the Autonomous Vehicle based on Non-time Reference

智能汽车在从地面进入地下停车场的自主泊车过程中,必须保证在螺旋弯曲坡道内安全行驶。针对智能汽车在螺旋弯曲坡道的路径跟踪问题,建立了智能汽车运动学方程及螺旋弯曲坡道模型,提出了以螺旋弯曲坡道Z轴位置变量为非时间参考因变量的路径跟踪控制方法,将空间位置跟踪转化为平面位置跟踪以简化路径跟踪控制器,设计了非时间参考的路径跟踪控制律。基于Simulink与Carmaker进行联合仿真,结果表明:智能汽车在螺旋弯曲坡道低速自主行驶过程中,非时间参考的跟踪路径与目标路径基本重合,位置偏差和航向角偏差趋于0。

In the process of automatic valet parking from the ground into the underground parking,the autonomous vehicle must be ensured to drive safely in the spiral curved ramp of the underground parking.For the path tracking of the autonomous vehicle in the spiral curved ramp,the kinematics equation of the autonomous vehicle and the spiral ramp model are established.A path tracking control method is proposed,in which the Z-axis position variable of spiral curved ramp is a non-time reference dependent variable,converting space position tracking into planar position tracking to simplify path tracking controller.A non-time reference path tracking control law is designed,and Simulink co-simulation with Carmaker is carried out.The results show that in the process of autonomous driving of a spiral curved ramp at a low speed,the tracking path of non-time reference is basically coincident with the target path,and the position deviation and heading angle deviation tend to zero.