基于线性二次规划的自动泊车的控制方法

Automatic Parking Control Method Based on the Linear-quadratic Regulator

针对自动泊车辅助系统中的规划路径曲率不连续,导致车辆原地转向的问题,采用逆推法,根据车身结构和周围环境约束,确定了控制点,利用贝塞尔曲线的性质设计出一条曲率连续且无碰撞的参考路径.为了提高自动泊车的可靠性,根据离散线性二次规划的原理,设计一个结合前馈控制和反馈控制的跟踪控制器.在Simulink和CARSIM中的仿真结果验证了该方法的可行性,表明提出的方法在泊车位尺寸合适的情况下能有效的跟踪参考路径,误差在可接受的范围内.

To solve the problem in which a vehicle turns in a place because the curvature of the planned path in the automatic parking system is not continuous,we adopt the reverse method to determine the control points according to the body structure and surrounding environment constraints.Then,we use a Bezier curve to design a reference path with continuous curvature and no collision.To improve the reliability of automatic parking,according to the principle of discrete linear-quadratic programming,we design a tracking controller combining feedforward and feedback control.The simulation results in the Simulink and CARSIM verify the feasibility of the proposed method.The results show that the method can effectively track the reference path within an acceptable range of the error when the parking space size is appropriate.