自动泊车系统路径规划与跟踪控制方法研究

针对自动泊车系统中的路径规划与路径跟踪问题,首先基于逆向行驶的方法,根据避障条件确定了可安全驶入停车位的泊车起始点范围,然后利用五次多项式对路径进行平滑处理,根据约束条件建立约束方程组并求解出五次多项式各项系数,得到曲率连续且符合避障约束的泊车轨迹,再结合非时间参考系和基于指数趋近律的滑模变结构控制方法,设计了路径跟踪控制器,最后利用MATLAB/Simulink进行仿真验证,结果表明,提出的方法在车速恒定与波动的情况下均取得了较好的路径跟踪效果。

Research on Path Planning and Path Tracking Control Method of Automatic Parking System

For the path planning and path tracking in the automatic parking system, this paper firstly adoptes the method of reverse driving, to determine the range of parking starting points that the car can safely drive to the parking space according to the obstacle avoidance conditions, then smoothes the parking path by using a quintic polynomial. A set of constraint equations is established based on the constraints. By solving the constraint equation, the coefficients of the quintic polynomial are obtained, and the parking path with continuous curvature and obstacle avoidance constraint is obtained. Then the path tracking controller is designed based on the non- time reference system and the sliding mode variable structure control method based on the exponential approach law. Finally, the simulation results are verified by MATLAB/Simulink. The results show that the parking path planning proposed in this paper achieves good path tracking effect under constant and fluctuating speed.