基于非线性模型预测控制的拖挂车系统泊车轨迹规划方法  

Parking trajectory planning method for tractor-trailer system based on nonlinear model predictive control

作　　者：杨毅[1,2] 贾博铂 高亮 李岱伟[1,2] 谢杉杉 YANG Yi;JIA Bobo;GAO Liang;LI Daiwei;XIE Shanshan(School of Automation,Beijing Institute of Technology,Beijing 100081,China;National Key Lab of Autonomous Intelligent Unmanned Systems,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081 [2]北京理工大学自主智能无人系统全国重点实验室,北京100081

出　　处：《中国惯性技术学报》2025年第2期179-188,共10页Journal of Chinese Inertial Technology

基　　金：国家重点研发计划(2022YFC2603600);国家自然科学基金(62233002)。

摘　　要：拖挂车是欠驱动与非完整约束高度耦合的非线性系统,具有状态维度高、约束复杂、内部稳定性差等特点,导致其泊车轨迹规划的求解时间长。因此,设计了一种基于非线性模型预测控制的拖挂车泊车轨迹规划方法,通过融合系统多元约束,构建优化问题,规划无碰撞的泊车轨迹。为加速优化问题的求解,首先,在系统的高维状态空间中使用结合Reed-Shepp(RS)曲线的改进快速扩展随机树(RRT*-RS)进行随机采样,以RS曲线满足反向行驶的特性,找到一条近似最优路径作为优化问题热启动的参考解。然后,在求解优化问题时,选用近似平均牛顿法以节约求解时间,提升系统实时性。最后,进行了倒库泊车、侧方泊车、多障碍物等场景实验仿真验证,仿真结果表明所提方法在不同场景下均可实现拖挂车泊车快速轨迹规划,求解时间与传统内点法和序列二次规划法相比均有40%以上的提升。The tractor-trailer is a highly coupled nonlinear system with underactuated and nonholonomic constraints,which has the characteristics of high state dimension,complex constraints and poor internal stability,resulting in a long solution process.Therefore,a parking trajectory planning method for tractor-trailer system is designed based on nonlinear model predictive control(NMPC),which constructs an optimization problem by integrating the multivariate constraints of the system,and plans a set of collision free parking trajectories.In order to accelerate the solution of the optimization problem,firstly,random sampling based on the RRT*-RS curve is carried out in the high dimensional state space of the trailer system,and an approximate optimal trajectory is found as a reference solution for the warm start of the optimization problem with the RS curve meeting the characteristics of reverse driving.Then,in the process of solving the optimization problem,the Proximal Averaged Newton-type method for Optimal Control(PANOC)is used to save the solution time and improve the real-time performance of the system.Finally,simulation experiments of reversing parking,side parking,multi-obstacle and other scenarios are carried out.The simulation results show that the proposed method can realize the fast trajectory planning of the tractor-trailer system in different scenarios.Compared with the traditional interior point method and sequential quadratic programming method,the solution time has increased by more than 40%.

关 键 词：拖挂车系统 自主泊车 轨迹规划 非线性模型预测控制 近似平均牛顿法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]