Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (5): 1879-1886.doi: 10.13229/j.cnki.Jdxbgxb20200417

Previous Articles    

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

RICH HTML

 9   

PDF (PC)

535

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

CLC Number: 

  • U461.1

Fig.1

Entry segment of parallel parking path"

Fig.2

Back move with sufficient lateral distance available"

Fig.3

Backward move with sufficient longitudinal distance available"

Fig.4

Vehicle kinematic model"

Fig.5

Simulation results"

1 钱立军, 胡伟龙, 刘庆, 等. 多段自动泊车路径规划及其关键技术[J]. 吉林大学学报: 工学版, 2016, 46(3): 785-791.
Qian Li-jun, Hu Wei-long, Liu Qing, et al. Multiple segment method for automatic parking path planning and its key technology[J]. Journal of Jilin University(Engineering and Technology Edition), 2016, 46(3): 785-791.
2 张家旭, 赵健, 施正堂, 等. 基于回旋曲线的平行泊车路径规划与跟踪控制[J]. 吉林大学学报: 工学版, 2020, 50(6): 2247-2257.
Zhang Jia-xu, Zhao Jian, Shi Zheng-tang, et al. Path planning and tracking control for parallel parking based on clothoid curve[J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(6): 2247-2257.
3 Upadhyay S, Ratnoo A. A point-to-ray framework for generating smooth parallel parking maneuvers[J]. IEEE Robotics and Automation Letters, 2018, 3(2): 1268-1275.
4 Qin Y W, Liu F Q, Wang P. A feasible parking algorithm in form of path planning and following[C]∥Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence, New York, USA, 2019: 6-11.
5 Zheng K Y, Liu S. RRT based path planning for autonomous parking of vehicle[C]∥2018 IEEE 7th Data Driven Control and Learning Systems Conference, Hubei, China, 2018: 627-632.
6 张家旭, 赵健, 施正堂, 等. 采用hp自适应伪谱法的全自动泊车系统轨迹规划与跟踪控制[J]. 西安交通大学学报, 2020, 54(6): 176-184.
Zhang Jia-xu, Zhao Jian, Shi Zheng-tang, et al. A trajectory planning and tracking control method for fully-automatic parking system using hp-adaptive pseudo spectral method[J]. Journal of Xi'an Jiaotong University, 2020, 54(6): 176-184.
7 Chai R Q, Tsourdos A, Savvaris A, et al. Two-stage trajectory optimization for autonomous ground vehicles parking maneuver[J]. IEEE Transactions on Industrial Informatics, 2019, 15(7): 3899-3909.
8 Chai R Q, Tsourdos A, Savvaris A, et al. Multi-objective optimal parking maneuver planning of autonomous wheeled vehicles[J]. IEEE Transactions on Industrial Electronics, 2020, 99: 10.1109/TIE.2019.2962482.
9 Li H, Luo J, Yan S, et al. Research on parking control of bus based on improved pure pursuit algorithms[C]∥18th International Symposium on Distributed Computing and Applications for Business Engineering and Science, Hubei, China, 2019: 21-26.
10 Khalili E, Ghaisari J, Danesh M, et al. Implementation of parallel parking system on a car like mobile robot[C]∥25th Iranian Conference on Electrical Engineering, Tehran, Iran, 2017: 562-566.
11 Ye H, Jiang H B, Ma S D, et al. Linear model predictive control of automatic parking path tracking with soft constraints[J]. International Journal of Advanced Robotic Systems, 2019, 16(3): 1-13.
12 Das S, Yarlagadda Y, Vora P B, et al. Trajectory planning and fuzzy control for perpendicular parking[C]∥IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, Daegu, Korea, 2017: 518-523.
13 , Intelligent transport systems-assisted parking system (APS)—performance requirements and test procedures[S].
14 Kim S J, Koh K, Lustig M, et al. An interior-point method for large-scale L1-regularized least squares[J]. IEEE Journal of Selected Topics in Signal Processing, 2007, 1(4): 606-617.
15 张家旭. 汽车底盘集成非线性鲁棒控制方法研究[D]. 长春: 吉林大学汽车工程学院, 2018.
Zhang Jia-xu. Research on nonlinear robust control method for integrated vehicle chassis control system[D]. Changchun: College of Automotive Engineering, Jilin University, 2018.
[1] Jia-xu ZHANG,Xin-zhi WANG,Jian ZHAO,Zheng-tang SHI. Path planning and discrete sliding mode tracking control for high⁃speed lane changing collision avoidance of vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 1081-1090.
[2] Xiao-jian HAN,Wei-qiang ZHAO,Li-jun CHEN,Hong-yu ZHENG,Yang LIU,Chang-fu ZONG. Local path planning of bus based on RS-RRT algorithm [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1428-1440.
[3] QIAN Li-jun, HU Wei-long, LIU Qing, WU Bing. Multiple segment method for automatic parking path planning and its key technology [J]. 吉林大学学报(工学版), 2016, 46(3): 785-791.
[4] ZHOU Bing-hai, ZHOU Qi. Impending deadlock-free scheduling method for unified AMHS in semiconductor FABs [J]. 吉林大学学报(工学版), 2016, 46(2): 595-601.
[5] KANG Bing, WANG Xi-hui, LIU Fu. Path planning of searching robot based on improved ant colony algorithm [J]. 吉林大学学报(工学版), 2014, 44(4): 1062-1068.
[6] LIU Hou-de, LIANG Bin, XU Wen-fu, MU Qing-tao, YU Jiang-hua. Motion prediction and autonomous path planning for spinning target capturing [J]. 吉林大学学报(工学版), 2014, 44(3): 757-764.
[7] LIU Gang, LIU Yu-bin, ZHAO Jie, ZHU Lei. Path planning for a new mine rescue robot base on visual tangent graphs [J]. 吉林大学学报(工学版), 2011, 41(4): 1107-1112.
[8] ZHAO Yang, ZHAO Ji, ZHANG Lei, JI Li-Zhe. Robotic blade grinding based on reverse engineering [J]. 吉林大学学报(工学版), 2009, 39(05): 1176-1180.
[9] YIN Li-ming1, JIA Yang2 . Algorithm evaluation for lunar rover path-planning [J]. 吉林大学学报(工学版), 2008, 38(04): 996-1000.
[10] CHEN Mou, XIAO Jian, JIANG Chang-sheng . Three dimensional path planning of UAV with improved ant algorithm [J]. 吉林大学学报(工学版), 2008, 38(04): 991-995.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd