摘要
为了提高泊车效率和安全性,提出了平行泊车控制策略,包括车位识别、路径规划和路径跟踪。在满足路径约束的条件下,利用等速偏移和三角函数叠加曲线进行泊车路径规划,基于模型预测控制算法进行泊车路径跟踪控制。搭建Prescan和Simulink联合仿真模型,进行车位识别和泊车过程仿真验证。结果表明:该策略可实现车位识别,并自主完成泊车任务,泊车过程中横向跟踪误差不大于0.019 m。
To improve parking efficiency and safety,a parallel parking control strategy was proposed,including parking space identification,path planning and path tracking.Under the condition of satisfying the path constraints,the constant velocity migration and trigonometric function superposition curve were used as the parking path planning,and the parking path tracking control was carried out based on the model predictive control algorithm.Prescan and Simulink co-simulation model was established to carry out parking space identification and parking process simulation verification.The results show that this strategy can realize parking space recognition and complete parking tasks autonomously,and the lateral tracking error is controlled within 0.019 m in the parking process.
作者
秦国庆
冯樱
Qin Guoqing;Feng Ying(School of Automotive Engineering,Hubei University of Automotive Technology,Shiyan 442002,China)
出处
《湖北汽车工业学院学报》
2022年第1期1-6,共6页
Journal of Hubei University Of Automotive Technology
基金
湖北省中央引导地方科技发展专项(2019ZYYD019)。
关键词
平行泊车
路径规划
路径跟踪
模型预测控制
parallel parking
path planning
path tracking
model predictive control
