自动泊车前轮转角闭环的分层控制方案  

Closed-loop layered control strategy of front wheel angle for automatic parking system

作　　者：马世典[1] 侯桐 江浩斌[1,2] 韩牟[3] 李臣旭 MA Shidian;HOU Tong;JIANG Haobin;HAN Mou;LI Chenxu(Automotive Engineering Research Institute,Jiangsu University,Zhenjiang,Jiangsu 212013,China;School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013,China;School of Computer Science and Communication Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013,China)

机构地区：[1]江苏大学汽车工程研究院,江苏镇江212013 [2]江苏大学汽车与交通工程学院,江苏镇江212013 [3]江苏大学计算机科学与通信工程学院,江苏镇江212013

出　　处：《江苏大学学报（自然科学版）》2024年第4期396-403,共8页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51675235);江苏省重点研发计划项目(BE2017035)。

摘　　要：为提高自动泊车系统中控制器的抗扰动能力,优化控制律执行效果,提出了前轮转角闭环的分层控制方案.设计了以行驶距离为非时间参考量的fal函数非光滑控制律,输出前轮转角控制量.以阿克曼转向模型为基础,建立了前轮转角观测器,并使用模糊滑模控制器实现前轮转角闭环的横向控制.搭建Carsim/Simulink联合仿真系统,在典型泊车场景下验证所设计控制器的有效性、跟踪效果及鲁棒性.使用实车测试平台开展了试验.结果表明:所设计的前轮转角闭环分层控制方案能够快速准确地跟踪目标路径,提高了泊车系统的横向控制精度,并在未知转向非线性扰动下也具有良好的跟踪控制效果.To improve the anti-disturbance capability of controller in automatic parking system and optimize the execution effect of control law,the closed-loop layered controller of front wheel angle was designed.The non-smooth control law based on the fal function was designed with driving distance as non-time reference to output the target front wheel angle.The front wheel angle observer was designed based on the Ackerman steering model,and the fuzzy sliding mode controller was used to implement closed-loop lateral control.The Carsim/Simulink co-simulation was built to verify the feasibility,tracking effect and robustness of the designed controller by simulating typical parking scenarios.A real vehicle test platform was used for testing.The results show that the closed-loop layered controller of front wheel angle can quickly and accurately track the target path,improve the lateral control accuracy of the parking system and ensure the tracking control effect under unknown steering nonlinear disturbances.

关 键 词：自动泊车 路径跟踪 分层控制 非光滑控制 前轮转角观测器 模糊滑模控制 

分 类 号：U463.6[机械工程—车辆工程]