小车位环境下的自动泊车路径规划与跟踪控制  

Parking Path Planning and Path Tracking in Small Parking Spaces

作　　者：冯欣阳 李春书[1] 唐风敏 FENG Xinyang;LI Chunshu;TANG Fengmin(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《计算机工程与应用》2022年第13期288-294,共7页Computer Engineering and Applications

基　　金：国家重点研发计划(2017YFB0102500)。

摘　　要：针对小车位泊车路径设计不连续导致位姿调整不平滑的问题,提出一种回旋曲线、圆弧、直线组合的路径规划方法,并基于非时间参考量的跟踪偏差,设计滑模控制器。根据泊车要求和限制条件,规划出泊入路径与调整路径:泊入路径引导车辆以极限位姿进入车位;调整路径通过平滑的路径组合实现车位内的位姿调整。选用指数趋近率设计滑模控制器,利用连续函数代替趋近率中的符号函数,降低抖振影响。仿真结果表明,车辆能够连续、无突变地完成泊车操作,跟踪误差较小,抖振抑制效果较好。For the problem of intermittent posture adjustment is caused by design of the discontinuous parking path in the small parking space,a path planning method of combination of cycloid,arc and straight line is proposed,and the tracking deviation of the non-time reference variable is used to design sliding mode controller.First of all,requirement and restrictions during the parking process are considered to devise entry paths and adjustment paths.The vehicle with extreme posture is guided into the parking space by the entry path.Posture adjustment is implemented by a smooth combination of paths of adjustment paths in the parking space.Then,the sliding mode controller is designed with an exponential approach rate;continuous function is used to substitute symbolic function in the approach rate,the effects of jitter is reduced.The simulation results show that parking is finished continuously,small tracking error and outsanding jitter suppression is presented.

关 键 词：自动泊车 二次路径规划 滑模控制 路径组合 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U461[自动化与计算机技术—控制科学与工程]