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    

面向狭小平行泊车位的路径规划与跟踪控制

张家旭1,2(),王晨1,赵健1(),卜纯研1   

  1. 1.吉林大学 汽车仿真与控制国家重点实验室，长春 130022
    2.中国第一汽车集团有限公司 智能网联研发院，长春 130011
  • 收稿日期:2020-06-11 出版日期:2021-09-01 发布日期:2021-09-16
  • 通讯作者: 赵健 E-mail:zhjx_686@163.com;zhaojian@jlu.edu.cn
  • 作者简介:张家旭（1985-），男，高级工程师，博士.研究方向：汽车地面系统分析与控制.E-mail：zhjx_686@163.com
  • 基金资助:
    国家自然科学基金面上项目(51775235)

Path planning and tracking control for narrow parallel parking space

Jia-xu ZHANG1,2(),Chen WANG1,Jian ZHAO1(),Chun-yan BU1   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.Intelligent Network R&D Institute，China FAW Group Co. ，Ltd. ，Changchun 130011，China
  • Received:2020-06-11 Online:2021-09-01 Published:2021-09-16
  • Contact: Jian ZHAO E-mail:zhjx_686@163.com;zhaojian@jlu.edu.cn

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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。

关键词: 自动泊车系统, 路径规划, 路径跟踪控制, 圆弧-直线-回旋曲线, 非时间参考

Abstract:

Aiming at the path planning and tracking control problem for narrow parallel parking space， a novel parallel parking path planning method with high calculation efficiency and wide application range is proposed by combining numerical optimization method and arc-line-clothoid curve combination method， and a novel parallel parking path tracking sliding mode control strategy is proposed based on non-time reference path tracking error model. Firstly， the parallel parking path is divided into two parts： the entry path， which is used to guide the vehicle to approach the parking space as close as possible， and the adjustment path， which is used to guide the vehicle to adjust its target pose. The entry path is obtained by solving the constraint optimization problem established by arc-line-clothoid curve combination method， and the adjustment path is planned based on arc-line combination method. Then， the non-time reference path tracking error model is established to simplify the three-dimensional path tracking control problem to two-dimensional problem， and a parallel parking path tracking sliding mode control strategy with few calibration parameters and strong robustness is designed based on the non-time reference path tracking error model. Finally， the simulation is carried out to validate the effectiveness and feasibility of the proposed method， and the simulation results show that the proposed method can guide the vehicle to complete the parking operation quickly， stably and accurately in the case of narrow parallel parking space and the non-zero initial parking azimuth.

Key words: automatic parking system, path planning, path tracking control, arc-line-clothoid curve, non-time reference

中图分类号: 

  • U461.1

图1

平行泊车进入段路径"

图2

侧向空间充足的后退式平行泊车路径"

图3

纵向空间充足的后退式平行泊车路径"

图4

汽车运动学模型"

图5

仿真结果"

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