Path Tracking Controller Design of Automated Parking Systems via NMPC with an Instructible Solution  

作　　者：Liang Chen Zhaobo Qin Manjiang Hu Yougang Bian Xiaoyan Peng 

机构地区：[1]State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle,College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China [2]Wuxi Intelligent Control Research Institute of Hunan University,Wuxi 214115,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第3期353-367,共15页中国机械工程学报（英文版）

基　　金：Supported by National Key R&D Program of China (Grant No.2021YFB2501800);National Natural Science Foundation of China (Grant No.52172384);Science and Technology Innovation Program of Hunan Province of China (Grant No.2021RC3048);State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle of China (Grant No.72275004)。

摘　　要：Parking difficulties have become a social issue that people have to solve.Automated parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking accidents.The paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking conditions.Firstly,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking effectively.Secondly,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal solution.Thirdly,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is presented.The closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost theoretically.Finally,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking conditions.The Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.

关 键 词：Automated parking Path tracking controller Nonlinear model predictive control Monte Carlo analysis 

分 类 号：U495[交通运输工程—交通运输规划与管理] U491.7[交通运输工程—道路与铁道工程]