摘要
针对狭窄车位情况,提出库外泊车与库内调整结合的平行泊车路径规划方法。采用出库倒推方法分析避障约束条件,利用迭代搜索方法寻找尽可能小的一次倒车入库后车身倾斜角度,以减少库内调整次数。基于改进的模型预测控制算法对平行泊车路径进行跟踪控制,采用粒子群算法优化预测时域和控制时域,避免人为寻找时域参数的局限性,提高路径跟踪控制的准确性和实时性。针对实车开展实验成本高的问题,将仿真软件Matlab和Carsim结合开发自动泊车仿真平台,开展路径规划和跟踪控制仿真研究。仿真平台可以为自动化、车辆工程等相关专业学生提供实践教学服务。
A parallel parking path planning method based on the combination of external parking and internal adjustment is proposed for the narrow parking spaces.The out of warehouse backward push method is used to analyze the obstacle avoidance constraints,and the iterative search method is used to find the smallest possible vehicle tilt angle after one reverse warehousing,so as to reduce the number of adjustments in the warehouse.The parallel parking path is tracked and controlled based on the improved model predictive control algorithm.The algorithm uses particle swarm optimization algorithm to optimize the prediction(horizon)and control(horizon).It avoids the limitations of artificial search,and improves the accuracy and real-time performance of path tracking control.Aiming at the high cost of in real vehicle experiment,the automatic parking simulation platform is developed by combining the Matlab and Carsim.The simulation experiment is carried out by using the platform.The simulation platform can provide teaching practical service for automation,vehicle engineering and other related majors.
作者
高宏岩
亓志同
GAO Hongyan;QI Zhitong(College of Electrical Engineering and Automation,Shandong University of Science and Technology,Qingdao 266590,Shandong,China)
出处
《实验室研究与探索》
CAS
北大核心
2022年第5期108-113,共6页
Research and Exploration In Laboratory
基金
山东省本科教学改革研究项目(P2020001)
山东科技大学优秀教学团队建设计划资助(JXTD20170510)
山东科技大学教育教学研究“群星计划”重点项目(QX2020Z11)。
关键词
仿真平台
平行泊车
路径规划
路径跟踪控制
simulation platform
parallel parking
path planning
path tracking control
