A Trajectory Planning and Tracking Control Method for Fully-automatic Parking System Using Hp-Adaptive Pseudo Spectral Method<br />

doi:10.7652/xjtuxb202006023

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A Trajectory Planning and Tracking Control Method for Fully-automatic Parking System Using Hp-Adaptive Pseudo Spectral Method

更新时间：2025-07-09

- A Trajectory Planning and Tracking Control Method for Fully-automatic Parking System Using Hp-Adaptive Pseudo Spectral Method
- Vol. 54, Issue 6, Pages: 176-184(2020)
- 作者机构：
  
  1. 吉林大学汽车仿真与控制国家重点实验室,长春,130022
  2. 中国第一汽车集团有限公司智能网联研发院,长春,130011
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202006023
  CLC： U461.1
- Online First：10 June 2020，
  
  Published：2020
- 稿件说明：
移动端阅览
A Trajectory Planning and Tracking Control Method for Fully-automatic Parking System Using Hp-Adaptive Pseudo Spectral Method
[J]. 2020, 54(6): 176-184. DOI: 10.7652/xjtuxb202006023.
DOI：

A Trajectory Planning and Tracking Control Method for Fully-automatic Parking System Using Hp-Adaptive Pseudo Spectral Method
[J]. 2020, 54(6): 176-184. DOI: 10.7652/xjtuxb202006023. DOI：

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.

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references

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