Research on Path Planning and Tracking Control of Automatic Parking System

In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of traditional arc-straight combined curve, a quinti...

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Bibliographic Details
Published in:World electric vehicle journal 2022-01, Vol.13 (1), p.14
Main Authors: Zhang, Bingzhan, Li, Zhiyuan, Ni, Yaoyao, Li, Yujie
Format: Article
Language:English
Subjects:
Algorithms
Automatic control
automatic parking
Control algorithms
Control systems design
Control theory
Controllers
Design
joint simulation
Kinematics
model predictive control
Parking
Path planning
Path tracking
Polynomials
Predictive control
Preview control
Tracking control
Wheels
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Summary:In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of traditional arc-straight combined curve, a quintic polynomial is used to smooth the path. we design a path tracking controller based on the incremental model predictive control (MPC). The preview control based on pure tracking algorithm is used as the comparison algorithm for path tracking. The feasibility of the controller is verified by building a Simulink/CarSim co-simulation platform. In addition, the practicality of the parking controller is further verified by using the ROS intelligent car in the laboratory environment.
ISSN:2032-6653
2032-6653
DOI:10.3390/wevj13010014