Aiming at the problem that vertical parking has large heading angle errors due to large curvature fluctuations, which leads to unsatisfactory results in actual parking, an improved pure tracking vertical parking technique based on heading angle feedback control is proposed. The method uses the positioning information of BeiDou navigation to determine the reference path, and on the basis of utilizing the pure tracking algorithm, uses the heading feedback control algorithm to realize the heading angle compensation control of the vehicle in the turn, and realizes the lateral tracking control of the vehicle. The experimental results show that the improved algorithm can realize precise control and efficient vertical parking of the vehicle.
Research on Vertical Parking Path Tracking Based on Heading Angle Feedback
2023-09-22
1499433 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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