平行泊车路径规划与跟踪控制研究

Path planning and tracking control of parallel parking

针对狭小平行泊车系统中跟踪控制精度低的问题,设计了一种自动泊车路径规划与跟踪控制方法。通过将满足汽车约束和碰撞约束的泊车路径进行模型预测控制和比例—积分—微分(PID)控制,提出了一种基于PID控制车辆速度、模型预测控制前轮转角的路径跟踪控制策略。最后基于Matlab/Simulink建立了仿真模型,对该方法进行了验证。结果表明,与原模型预测控制相比,路径跟踪的横向误差减小了0.037 m,纵向误差减小了0.204 m。基于该方法设计的跟踪控制器,跟踪误差小,鲁棒性强,能够实现对规划路径的跟踪。

For the problem of low tracking control accuracy in the narrow parallel parking system, a method for automatic parking path planning and tracking control was designed. By modeling predictive control and proportional-integral-derivative(PID) control on the parking path, which satisfies the vehicle constraints and collision constraints, a path following control strategy based on PID control of vehicle speed and model predictive control of front-wheel turning angle was proposed. Finally, the method was verified by a simulation model based on Matlab/Simulink. The results show that compared with the original model predictive control, the lateral error of path tracking is reduced by 0.037 m and the longitudinal error is reduced by 0.204 m. The tracking controller designed based on this method has small tracking error and strong robustness, which can track the planning path.