[1]张家旭,赵健,施正堂,等.采用hp自适应伪谱法的全自动泊车系统轨迹规划与跟踪控制[J].西安交通大学学报,2020,54(06):176-184.[doi:10.7652/xjtuxb202006023]
 ZHANG Jiaxu,ZHAO Jian,SHI Zhengtang,et al.A Trajectory Planning and Tracking Control Method for Fully-automatic Parking System Using Hp-Adaptive Pseudo Spectral Method[J].Journal of Xi'an Jiaotong University,2020,54(06):176-184.[doi:10.7652/xjtuxb202006023]
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采用hp自适应伪谱法的全自动泊车系统轨迹规划与跟踪控制
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《西安交通大学学报》[ISSN:0253-987X/CN:61-1069/T]

卷:
54
期数:
2020年第06期
页码:
176-184
栏目:
出版日期:
2020-06-10

文章信息/Info

Title:
A Trajectory Planning and Tracking Control Method for Fully-automatic Parking System Using Hp-Adaptive Pseudo Spectral Method
文章编号:
0253-987X(2020)06-0176-09
作者:
张家旭12 赵健1 施正堂3 杨雄3
1.吉林大学汽车仿真与控制国家重点实验室, 130022, 长春; 2.中国第一汽车集团有限公司智能网联研发院, 130011, 长春; 3.浙江亚太机电股份有限公司, 311200, 杭州
Author(s):
ZHANG Jiaxu12 ZHAO Jian1 SHI Zhengtang3 YANG Xiong3
1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China; 2. Intelligent Network R&D Institute, China FAW Group Co. Ltd., Changchun 130011, China; 3. Zhejiang Asia-Pacific Mechanical and Electronic Co. Ltd., Hangzhou 311200, China
关键词:
全自动泊车系统 轨迹规划与跟踪控制 hp自适应伪谱法 有限时间稳定
Keywords:
fully-automatic parking system trajectory planning and tracking control
分类号:
U461.1
DOI:
10.7652/xjtuxb202006023
文献标志码:
A
摘要:
针对平行泊车和垂直泊车应用场景,提出一种基于hp自适应伪谱法的全自动泊车系统轨迹规划与跟踪控制方法。首先,综合考虑汽车运动学约束、泊车过程中避障约束和边界条件约束,建立泊车轨迹规划问题数学描述,并通过hp自适应伪谱法将其转化成非线性规划问题进行求解; 然后,将泊车轨迹跟踪控制问题解耦成了泊车路径跟踪控制问题和泊车速度跟踪控制问题,并基于有限时间稳定性理论设计了泊车路径跟踪快速终端滑模控制律,以及基于“比例+积分”平滑切换准则设计了泊车速度跟踪控制律。结合汽车动力学仿真软件对所提出的全自动泊车系统轨迹规划与跟踪控制方法的可行性和有效性进行验证,结果表明:针对不同泊车起始点,所提出的方法均可以规划出满足约束条件的时间最短泊车轨迹,并能够精确地控制汽车沿着规划的轨迹自动完成泊车操作。
Abstract:
A novel trajectory planning and tracking control method for fully-automatic parking system based on hp-adaptive pseudo spectral method is proposed for application scenarios of parallel parking and vertical parking. Firstly, a mathematical description of the trajectory planning problem is established by comprehensively taking the kinematic constraint of the vehicle, the requirements of obstacle avoidance constraint and the boundary constraint in parking process into account, and then the problem is transformed into a non-linear programming problem using hp-adaptive pseudo spectral method. Then, the trajectory tracking control problem is decoupled into a path tracking control problem and a longitudinal velocity tracking control problem. A non-time reference path tracking fast terminal sliding mode control law is designed based on finite-time stability theory and the longitudinal velocity tracking control law is presented based on the “proportional+integral” smooth switching criterion. Finally, the feasibility and validity of the proposed trajectory planning and control method for fully-automatic parking system are verified by an automobile dynamics simulation software. Simulation results show that the proposed method plans the shortest parking trajectories that satisfies the constraint conditions for different parking starting positions, and accurately controls the vehicle to complete the parking operation along the planned trajectory.

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备注/Memo

备注/Memo:
收稿日期: 2019-08-09。作者简介: 张家旭(1985—),男,博士,高级工程师; 赵健(通信作者),男,教授,博士生导师。基金项目: 国家自然科学基金资助项目(51575225)。
更新日期/Last Update: 2020-06-10