基于模糊纯追踪控制的自动泊车算法研究
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摘要
为了提高自动泊车系统追随路径的可靠性,提出一种利用模糊控制方法改进的纯追踪模型,建立基于横向距离偏差与航向偏差为输入、前视距离为输出的模糊规则,实现纯追踪模型前视距离的动态调整以适应复杂的泊车路径。针对两段式路径规划在切点处曲率不连续问题,提出一种经回旋曲线优化的泊车路径,并给出相应的路径计算方法。通过MATLAB仿真验证了该路径规划方法的可行性,在跟踪控制上,相对于固定前视距离的纯追踪模型,改进的控制方法使车辆快速跟随路径,并具有较小的误差,从而提高泊车成功率。
In order to improve the tracking control accuracy of parking system,an improved pure tracking model based on fuzzy control method is proposed. The fuzzy rule based on transverse distance deviation and steering angle deviation as input and forward-looking distance as output is established to realize dynamic adjustment of forward-looking distance of pure tracking model to adapt to complex parking paths. Aiming at the discontinuity of curvature at the tangent point of two-stage path planning,a parking path optimized by clothoid curve is proposed,and the corresponding calculation method of the path is given. The feasibility of the path planning method is verified by MATLAB simulation. Compared with the pure tracking model with fixed forward-looking distance,the improved control method makes the vehicle follow the path quickly and has less error,thus improving the parking success rate.
In order to improve the tracking control accuracy of parking system,an improved pure tracking model based on fuzzy control method is proposed. The fuzzy rule based on transverse distance deviation and steering angle deviation as input and forward-looking distance as output is established to realize dynamic adjustment of forward-looking distance of pure tracking model to adapt to complex parking paths. Aiming at the discontinuity of curvature at the tangent point of two-stage path planning,a parking path optimized by clothoid curve is proposed,and the corresponding calculation method of the path is given. The feasibility of the path planning method is verified by MATLAB simulation. Compared with the pure tracking model with fixed forward-looking distance,the improved control method makes the vehicle follow the path quickly and has less error,thus improving the parking success rate.
引文
[1]李晓,王宇宁,安兆杰.全景环视泊车辅助系统在商用车上的应用[J].武汉理工大学学报(信息与管理工程版),2015,37(4):412-416.
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[6]李红,王文军,李克强.基于B样条理论的平行泊车路径规划[J].中国公路学报,2016,29(9):143-151.
[7]段建民,夏天,宋志雪.基于联合仿真的智能车路径跟踪控制研究[J].计算机仿真,2017,34(6):129-134.
[8]唐小涛,陶建峰,李志腾.基于模糊控制的纯追踪模型稳定性改善方法[J].农业机械学报,2018,49(1):29-34.
[9]黄沛琛,罗锡文,张智刚.改进纯追踪模型的农业机械地头转向控制方法[J].计算机工程与应用,2010,46(21):216-219.
[10]赵熙俊,陈慧岩.智能车辆路径跟踪横向控制方法的研究[J].汽车工程,2011,33(5):382-387.
[11] MULLER B,DEUTSCHER J,GRODDE S. Continuous curvature trajectory design and feedforward control for parking a car[J]. IEEE Transactions on Control Systems Technology,2007,15(3):541-553.
[12] VOROBIEVA H,GLASER S,MINOIU-ENACHE N,et al. Automatic parallel parking in tiny spots:path planning and control[J]. IEEE Transactions on Intelligent Transportation Systems,2015,16(1):396-410.
[2]左培文,孟庆阔,李育贤.自动泊车系统发展现状及前景分析[J].上海汽车,2017(2):44-46.
[3]禄盛,黄显杭,苏岭.自动泊车系统模型研究与实车验证[J].重庆邮电大学学报(自然科学版),2014,26(4):522-529.
[4]宋金泽.自主泊车系统关键技术研究[D].长沙:国防科学技术大学,2009.
[5]穆加彩,张振东,管登诗.自动泊车系统路径规划与控制研究[J].软件导刊,2017,16(5):113-117.
[6]李红,王文军,李克强.基于B样条理论的平行泊车路径规划[J].中国公路学报,2016,29(9):143-151.
[7]段建民,夏天,宋志雪.基于联合仿真的智能车路径跟踪控制研究[J].计算机仿真,2017,34(6):129-134.
[8]唐小涛,陶建峰,李志腾.基于模糊控制的纯追踪模型稳定性改善方法[J].农业机械学报,2018,49(1):29-34.
[9]黄沛琛,罗锡文,张智刚.改进纯追踪模型的农业机械地头转向控制方法[J].计算机工程与应用,2010,46(21):216-219.
[10]赵熙俊,陈慧岩.智能车辆路径跟踪横向控制方法的研究[J].汽车工程,2011,33(5):382-387.
[11] MULLER B,DEUTSCHER J,GRODDE S. Continuous curvature trajectory design and feedforward control for parking a car[J]. IEEE Transactions on Control Systems Technology,2007,15(3):541-553.
[12] VOROBIEVA H,GLASER S,MINOIU-ENACHE N,et al. Automatic parallel parking in tiny spots:path planning and control[J]. IEEE Transactions on Intelligent Transportation Systems,2015,16(1):396-410.