吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (5): 1879-1886.doi: 10.13229/j.cnki.Jdxbgxb20200417
• 通信与控制工程 • 上一篇
Jia-xu ZHANG1,2(),Chen WANG1,Jian ZHAO1(),Chun-yan BU1
摘要:
针对狭小平行泊车位的路径规划和跟踪控制问题,本文融合数值优化方法和圆弧-直线-回旋曲线组合方法,提出了一种计算效率高、适用范围广的平行泊车路径规划方法,以及一种基于非时间参考量泊车路径跟踪误差模型的平行泊车路径跟踪滑模控制策略。首先,将平行泊车路径细分为用于引导汽车最大限度靠近泊车位的进入段路径和用于引导汽车调整其目标位姿的调整段路径,通过求解基于圆弧-直线-回旋曲线组合方法建立的约束最优化问题得到进入段路径,并通过圆弧-直线组合方式规划出调整段路径;随后,建立非时间参考量泊车路径跟踪误差模型,将三维泊车路径跟踪控制问题简化为二维泊车路径跟踪控制问题,并设计具有标定参数、鲁棒性强特点的泊车路径跟踪滑模控制策略;最后,仿真验证了本文方法的有效性和可行性,结果表明:针对狭小平行泊车位和泊车初始方位角不为零的情况,本文方法可以快速、稳定和精确地引导汽车完成泊车操作。
中图分类号:
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