摘要
为了提高自动平行泊车系统的控制精度,分析了车辆在泊车工况时的约束,采用五次多项式进行轨迹规划,运用模型预测控制算法跟踪路径,并使用Simulink进行路径跟踪仿真,结果表明:规划的路径满足车辆泊车约束,控制策略能控制车辆按照参考路径平行泊车。
In order to improve the control precision of the automatic parallel parking system,the constraints of the vehicle in the parking condition are analyzed,The trajectory planning is performed by the fifth-order polynomial,the path is tracked by the model prediction control algorithm,and the path tracking simulation is performed by Simulink.The results show that the planned path satisfies the vehicle parking constraints,and the control strategy can control the vehicles to park in parallel according to the target path.
作者
谢宁猛
Xie Ningneng(School of Automobile,Chang’an University,Shaanxi Xi’an 710064)
出处
《汽车实用技术》
2019年第2期36-37,72,共3页
Automobile Applied Technology
关键词
平行泊车
轨迹规划
五次多项式
模型预测控制
Parallel parking
Trajectory planning
Fifth-degree polynomial
Model predictive control
