吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (3): 785-791.doi: 10.13229/j.cnki.jdxbgxb201603016

• 论文 • 上一篇    下一篇

多段式自动泊车路径规划及其关键技术

钱立军1, 胡伟龙1, 2, 刘庆3, 吴冰1   

  1. 1.合肥工业大学 机械与汽车工程学院,合肥 230009;
    2.安徽江淮汽车集团有限公司博士后科研工作站,合肥 230601;
    3.泰安航天特种车有限公司 项目管理部,泰安 271000
  • 收稿日期:2014-11-10 出版日期:2016-06-20 发布日期:2016-06-20
  • 作者简介:钱立军(1962),男,教授,博士生导师.研究方向:车辆电子,车辆控制.E-mail:13635601581@139.com
  • 基金资助:
    工信部电子信息产业发展基金项目(工信部财[2009]453号).

Multiple segment method for automatic parking path planning and its key technology

QIAN Li-jun1, HU Wei-long1, 2, LIU Qing3, WU Bing1   

  1. 1.School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009,China;
    2.Postdoctoral Work Station, Anhui Jianghuai Automobile Co., Ltd., Hefei 230601,China;
    3.Project Management Department, Taian Aerospace Special Vehicle Co. Ltd. Taian 271000,China
  • Received:2014-11-10 Online:2016-06-20 Published:2016-06-20

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摘要： 为了设计一种在泊车过程中较连贯且计算量少的泊车路径,提出了泊车过程中方向盘匀速转动的策略。首先推导出车辆低速行驶时,匀速转动方向盘时后轴中心点的运动轨迹。然后将泊车过程分为5个阶段,按照避障条件求解出最优化的路径参数。设计了基于PID闭环反馈的车速控制系统,并通过试验得出实际车速对预期车速的跟踪效果良好的结论。通过泊车控制器模拟出EPS控制器需要的转矩传感器信号,设计了方向盘转速控制系统,利用系统辨识的方法得到转矩与转速的关系,并通过试验发现辨识得到的转矩与实际转矩的拟合度在96%以上。通过比较五段式泊车和两段式泊车过程中的车速、转角、油门控制量、刹车控制量随时间的变化关系,可以看出五段式泊车过程更加连贯。

关键词: 交通运输系统工程, 自动泊车, 路径规划, 车速控制, 方向盘转速控制

Abstract: A strategy to turn the steering wheel uniformly while parking is put forward to design a parking path with more consistency and fewer calculations. First, the trajectory of the center point on rear axle is deduced while the vehicle is driven at low speed and the steering wheel is turned uniformly. Second, the parking process is divided into five stages and the parameters of the optimized path are obtained according to obstacle avoidance. Third, the vehicle speed control system based on the PID closed-loop feedback theory is designed, and experiments show that the real speed matches the expected speed. Fourth, the signal of the torque sensor needed by EPS controller is simulated by parking controller; then the steering wheel rotational speed control system is designed, and relationship between the torque and rotational speed is obtained by system identification. Experiments show that the degree of fitting between torques given by system identification and real torques is above 96%. Finally, the change of vehicle speed, rotating angle of the steering wheel, accelerator and brake of two segment parking and five segment parking are obtained. Comparison of two segment parking and five segment parking shows that five segment parking has higher consistency.

Key words: engineering of communication and transportation system, automatic parking, path planning, vehicle speed control, steering wheel rotational speed control

中图分类号: 

  • U463.67
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