基于预瞄PID的自动泊车路径跟踪分析  

Analysis of Automatic Parking Path Tracking Based on PreviewAnalysis of Automatic Parking Path Tracking Based on Preview PID

作　　者：骆嫚 熊胜健 隋立洋 鲁若宇 江辉 LUO Man;XIONG Shengjian;SUI Liyang;LU Ruoyu;JIANG Hui(Dongfeng Yuexiang Technology Company Limited,Wuhan 430058,China;College of Automotive Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]东风悦享科技有限公司,湖北武汉430058 [2]武汉理工大学汽车工程学院,湖北武汉430070

出　　处：《汽车实用技术》2023年第11期66-71,共6页Automobile Applied Technology

摘　　要：为减少路径跟踪的误差,文章设计了基于预瞄误差的比例-积分-微分(PID)控制器。首先,采用直线-圆弧-回旋曲线拼接的方法生成了垂直泊车场景下曲率连续的全局路径。其次,设计了预瞄点、参考点及预瞄误差的计算方法,并将预瞄误差作为PID的输入以设计路径跟踪控制器。最后,通过Simulink/CarSim联合仿真对预瞄PID算法进行了验证,仿真及试验的结果表明,文章所提出的基于预瞄PID的路径跟踪算法虽然原理简单,但是跟踪精度较高,可以满足自动泊车的需求。In order to reduce the error of path tracking,a proportional integral derivative(PID)controller based on preview error is designed.Firstly,a global path with continuous curvature in vertical parking scenarios is generated by splicing line-arc-cyclotron curves.Secondly,the calculation method of preview point,reference point and preview error is designed,and the preview error is used as the input of PID to design the path tracking controller.Finally,the preview PID algorithm is verified by Simulink/CarSim co-simulation.The simulation and test results show that the path tracking algorithm based on preview PID proposed in this paper is simple in principle,but has high tracking accuracy,which can meet the requirements of automatic parking.

关 键 词：自动泊车 垂直泊车 路径跟踪 预瞄误差 PID Simulink/CarSim 

分 类 号：U495[交通运输工程—交通运输规划与管理]