Path tracking for vehicle parallel parking based on ADRC controller  

作　　者：王健 赵又群 季学武 刘亚辉 臧利国 

机构地区：[1]College of Energy & Power Engineering,Nanjing University of Aeronautics and Astronautics [2]State Key Laboratory of Automotive Safety and Energy,Tsinghua University

出　　处：《Journal of Beijing Institute of Technology》2015年第2期213-221,共9页北京理工大学学报（英文版）

基　　金：Supported by the National Natural Science Foundation of China(11072106,51005133,51375009)

摘　　要：A novel path tracking controller for parallel parking based on active disturbance rejection control （ADRC） was presented in this paper. A second order ADRC controller was used to solve the path tracking robustness, which can estimate and compensate model uncertainty caused by steering kinematics and disturbances caused by parking speed and steering system delay. Collision-free path planning technology was adopted to generate the reference path. The simulation results validate that the performance of the proposed path tracking controller is better than the conventional PID controller. The actual vehicle tests show that the proposed path tracking controller is effective and robust to model uncertainty and disturbances.A novel path tracking controller for parallel parking based on active disturbance rejection control （ADRC） was presented in this paper. A second order ADRC controller was used to solve the path tracking robustness, which can estimate and compensate model uncertainty caused by steering kinematics and disturbances caused by parking speed and steering system delay. Collision-free path planning technology was adopted to generate the reference path. The simulation results validate that the performance of the proposed path tracking controller is better than the conventional PID controller. The actual vehicle tests show that the proposed path tracking controller is effective and robust to model uncertainty and disturbances.

关 键 词：parallel parking path tracking active disturbance rejection control active disturbance rejection control （ADRC） path planning 

分 类 号：U463.6[机械工程—车辆工程]