全自动泊车系统的路径跟随  

Path Following of A Fully-automatic Parking Assist System

作　　者：程昆朋[1,2] 陈慧[1,2] 

机构地区：[1]同济大学 [2]同济大学新能源汽车工程中心

出　　处：《汽车技术》2013年第10期26-29,34,共5页Automobile Technology

基　　金：国家重点基础研究发展计划(973计划)资助项目(2011CB711200)

摘　　要：提出了一种包含侧向和纵向运动控制模块的路径跟随策略,搭建了基于微分平坦理论的侧向运动控制模块,把非线性车辆模型反馈线性化,通过极点配置实现了对车辆行驶轨迹的闭环控制。搭建了双闭环纵向运动控制模块,外环对车辆的行驶距离进行控制,内环对车辆的纵向车速进行控制。实车试验结果表明,该控制策略能把跟随误差限制在7 cm内。A following strategy of a fully-automatic parking assist system comprising lateral and longitudinal motion control module is presented in this paper. The lateral motion control module based on differential flatness theory is established. After linearizing the non-linear vehicle model feedback, closed loop of vehicle traveling track is realized through pole placement. Dual closed-loop longitudinal motion control module is established, with the outer closed-loop controls the distance traveled of the vehicle, while the inner-loop controls the longitudinal velocity. Field test results show that with this control strategy, following error can be limited within 7 centimeters.

关 键 词：全自动泊车 路径跟随 Time—scaling 微分平坦 

分 类 号：U463.6[机械工程—车辆工程]