This paper considers the perpendicular parking problem of front wheel steering vehicles. a collision-free reverse perpendicular parking in one maneuver is presented. At any initial position and orientation of the vehicle, a reference parking trajectory can be established by building relationships between the widths of the parking aisle and the parking place as well as the initial position of the vehicle. Furthermore, the B-spline algorithm is used to optimized the reference trajectory, and the continuity of trajectory curvature is realized. Then, a trajectory following scheme based on Model Predictive Control (MPC) algorithm is proposed for intelligent vehicles, and the trajectory tracker based on MPC algorithm is built. The feasibility of this method is verified through simulations, and the results indicate that the designed MPC controller has excellent robustness and can minimize the following error.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Automatic Perpendicular Parking Trajectory Planning and Following for Vehicle


    Beteiligte:
    Song, Jie (Autor:in) / Zhang, Weiwei (Autor:in) / Wu, Xuncheng (Autor:in) / Gao, Qiaoming (Autor:in)


    Erscheinungsdatum :

    2019-10-01


    Format / Umfang :

    2144721 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Path Planning Algorithm of Automatic Perpendicular Parking in Constrained Parking Space

    Ye, Fei / Lu, Hui / Qi, Cheng | British Library Conference Proceedings | 2021


    Automatic vertical parking trajectory planning method

    WANG WEI / ZHANG ZITONG / SU PENGFEI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Path Planning Algorithm of Automatic Perpendicular Parking in Constrained Parking Space

    Qi, Cheng / Ye, Fei / Lu, Hui | SAE Technical Papers | 2021



    Automatic parking trajectory planning method based on vehicle kinematic model

    LI ZHUOREN / XIONG LU / LENG BO et al. | Europäisches Patentamt | 2022

    Freier Zugriff