Research on Path Planning and Tracking Control of Automatic Parking System
Abstract
:1. Introduction
2. Parking Path Planning
2.1. Kinematic Model of Vehicle
2.2. Parking System Analysis
2.3. Parallel Parking Path Planning Based on Quintic Polynomial
3. Motion Control of Path Tracking Based on MPC
3.1. Design of Parking Path Following Controller
3.2. Mulation and Result Analysis of Parallel Parking
4. Parking Experiment of Intelligent Car
5. Conclusions
6. Future Research Directions
- Regarding parking conditions, this article only studies parallel parking conditions. For vertical parking conditions and parking with irregular parking spaces, further research is needed.
- Regarding the experiment, due to the lack of conditions, this article only uses the smart car to carry out the parking experiment. In the future, the designed controller needs to be verified on the actual vehicle.
- Regarding the development of automatic parking technology, automatic valet parking technology is an inevitable trend in the development of automatic parking technology in the future.
Author Contributions
Funding
Conflicts of Interest
References
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Parameter | Symbol | Numerical Value | Unit |
---|---|---|---|
Vehicle length | L | 4.7 | m |
Vehicle width | W | 1.86 | m |
Wheelbase | l | 2.71 | m |
Front overhang | lf | 0.89 | m |
Rear overhang | lr | 1.1 | m |
Maximum front wheel angle | 0.482 | rad | |
Front wheel angle maximum speed | 0.482 | rad/m |
Path Curve Type | Advantage | Disadvantages |
---|---|---|
Double arc combination Arc-straight arc combination | The path structure is simple, easy to implement, and the size of the required parking space is appropriate | The curvature is discontinuous and it is difficult to track; there are higher requirements for the parking starting point |
B-spline curve Cloth curve | Continuous curvature, easy to track | The path structure and expression are complex, and the amount of calculation is large; |
Arctangent function curve | The curve expression is easy to calculate, the curvature is continuous and the curvature change rate is continuous | The curvature of the starting point and ending point of the path is not zero, which does not meet the pose requirements |
Quintic polynomial curve | The curve expression is simple, the curvature is continuous and the curvature change rate is continuous, and the calculation amount is small | Properly increase the length of the parking space to ensure that the end point of the path has zero curvature |
Prediction Horizon | Control Horizon | Sampling Period | Simulation Time | Relaxation Factor (Row) | Weight Matrix (Q) | Weight Matrix (R) |
---|---|---|---|---|---|---|
60 s | 30 s | 0.1 s | 40 s | 10 | 100 | 5 |
Control Algorithm | ||||
---|---|---|---|---|
MPC controller | −0.018 | 0.0053 | 0.09638 | 0.02527 |
Preview controller | 0.039 | 0.0072 | 0.08602 | 0.026 |
Parameters | Numerical Value (mm) |
---|---|
Vehicle length | 495 |
Vehicle width | 290 |
Front overhang | 115 |
Rear overhang | 40 |
Wheelbase | 340 |
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Zhang, B.; Li, Z.; Ni, Y.; Li, Y. Research on Path Planning and Tracking Control of Automatic Parking System. World Electr. Veh. J. 2022, 13, 14. https://doi.org/10.3390/wevj13010014
Zhang B, Li Z, Ni Y, Li Y. Research on Path Planning and Tracking Control of Automatic Parking System. World Electric Vehicle Journal. 2022; 13(1):14. https://doi.org/10.3390/wevj13010014
Chicago/Turabian StyleZhang, Bingzhan, Zhiyuan Li, Yaoyao Ni, and Yujie Li. 2022. "Research on Path Planning and Tracking Control of Automatic Parking System" World Electric Vehicle Journal 13, no. 1: 14. https://doi.org/10.3390/wevj13010014