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

张家旭 1; 2; 赵健 1; 施正堂 3; 杨雄 3

doi:10.7652/xjtuxb202006023

您当前的位置：

首页 >

文章列表页 >

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

更新时间：2025-07-09

- 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
- A Trajectory Planning and Tracking Control Method for Fully-automatic Parking System Using Hp-Adaptive Pseudo Spectral Method
- 西安交通大学学报 2020年54卷第6期页码：176-184
- 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：
  
  : 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)
- DOI：10.7652/xjtuxb202006023
  中图分类号： U461.1
- 网络首发：2020-06-10，
  
  纸质出版：2020
- 稿件说明：
移动端阅览
张家旭 1, 2, 赵健 1, 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(6):176-184.

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.
张家旭 1, 2, 赵健 1, 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(6):176-184. DOI： 10.7652/xjtuxb202006023.

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.

关键词

Keywords

references

ZIPS P, BOCK M, KUGI A. Optimisation based path planning for car parking in narrow environments [J]. Robotics and Autonomous Systems, 2016, 79: 1-11.

DU Xinxin, TAN K K. Autonomous reverse parking system based on robust path generation and improved sliding mode control [J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(3): 1225-1237.

朴昌浩, 禄盛, 张艳, 等. 自动泊车系统设计 [M]. 北京: 科学出版社, 2014: 4-7.

ZHAO Yanan, COLLINS E G. Robust automatic parallel parking in tight spaces via fuzzy logic [J]. Robotics and Autonomous Systems, 2005, 51(2/3): 111-127.

RYU Y, OH S, KIM S. Robust automatic parking without odometry using an evolutionary fuzzy logic controller [J]. International Journal of Control Automation and Systems, 2008, 6(3): 434-443.

ZHENG Guoqiang, LIANG Zhao, LI Jishun. Optimization of an intelligent controller for parallel autonomous parking [J]. Telkomnka: Indonesian Journal of Electrical Engineering, 2013, 11(2): 1069-1075.

XU Ying, LU Zefeng, SHAN Xin, et al. Study on an automatic parking method based on the sliding mode variable structure and fuzzy logical control [J]. Symmetry, 2018, 10(10): 523-535.

李占江. 车辆自动泊车的模糊控制方法研究 [D]. 长春: 吉林大学, 2007: 29-48.

姜辉. 自动平行泊车系统转向控制策略的研究 [D]. 长春: 吉林大学, 2010: 25-35.

GOMEZ-BRAVO F, CUESTA F, OLLERO A. Parallel and diagonal parking in nonholonomic autonomous vehicles [J]. Engineering Applications of Artificial Intelligence, 2001, 14(4): 419-434.

XU Jin, XIE Ming, LU Jiangzhou. Duplex motion planning strategy for automatic manoeuvre of vehicle in complex environment [C]∥ Proceedings of the 2001 IEEE Intelligent Transportation Systems Conference. Piscataway, NJ, USA: IEEE, 2001: 292-297.

YAMAMOTO M, HAYASHI Y, MOHRI A. Garage parking planning and control of car-like robot using a real time optimization method [C]∥ The 6th IEEE International Symposium on Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing. Piscataway, NJ, USA: IEEE, 2005: 248-253.

LI Bai, WANG Kexin, SHAO Zhijian. Time optimal maneuver planning in automatic parallel parking using s simultaneous dynamic optimization approach [J]. IEEE Transactions on Intelligent Transportation Systems, 2016, 17(11): 3263-3274.

郭奕璀. 自主泊车系统轨迹规划及实现 [D]. 成都: 西南交通大学, 2017: 182-191.

赵海兰. 全自动平行泊车路径规划及路径跟踪研究 [D]. 山东淄博: 山东理工大学, 2017: 27-36.

李潇傲. 基于Gauss伪谱法的泊车轨迹规划算法 [D]. 上海: 上海交通大学, 2015: 19-38.

LI Bai, SHAO Zhijiang. A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles [J]. Knowledge-Based Systems, 2015, 86: 11-20.

江浩斌, 施凯津, 华一丁, 等. 基于hp自适应伪谱法的智能汽车紧急变道轨迹规划与优化 [J]. 中国公路学报, 2019, 32(6): 71-78.

JIANG Haobin, SHI Kaijin, HUA Yiding, et al. Lane-changing trajectory planning and optimization for intelligent vehicle through hp-adaptive pseudospectral method [J]. China Journal of Highway and Transport, 2019, 32(6): 71-78.

王海涛, 李军营, 梁立威, 等. 基于hp适应Radau伪谱法的再入飞行器轨迹优化 [J]. 科学技术与工程, 2015, 15(2): 165-171.

WANG Haitao, LI Junying, LIANG Liwei, et al. Track optimizing for reentry vehicle based on hp-adaptive Radau pseudospectral method [J]. Science Technology and Engineering, 2015, 15(2): 165-171.

DARBY C L, HAGER W W, RAO A V. An hp-adaptive pseudospectral method for solving optimal control problems [J]. Optimal Control Applications and Methods,2011,32(4): 476-502.

HE Shaoming, LIN Defu. Adaptive nonsingular sliding mode based guidance law with terminal angular constraint [J]. International Journal of Aeronautical and Space Sciences, 2014, 15(2): 146-152.

YU S H, YU X H, SHIRINZADEH B, et al. Continuous finite-time control for robotic manipulators with terminal sliding mode [J]. Automatica, 2005, 41(11): 1957-1964.

THRUN S, MONTEMERLO M, DAHLKAMP H, et al. Stanley: the robot that won the DARPA grand challenge [J]. Journal of Field Robotics, 2006, 23(9): 661-692.

蒙昊蓝, 陈君毅, 左任婧, 等. 智能汽车自主泊车系统测试方法 [J]. 中国公路学报, 2019, 32(6): 158-168.

MENG Haolan, CHEN Junyi, ZUO Renjing, et al. Test method of automated valet parking system for intelligent vehicles [J]. China Journal of Highway and Transport, 2019, 32(6): 158-168.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

隧道内燃料电池汽车氢气泄漏扩散特性及影响因素

三塔合一间接空冷系统结构参数对夏季运行特性的影响研究

超临界水异常区域热力学特性研究

电动车辆间接热系统快速除湿响应迟滞机理及优化控制策略

融合物理信息与深度算子网络的变压器绕组热-流场快速计算方法