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

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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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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"

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