The invention discloses an integrated parallel parking trajectory planning and tracking control method and system. The method comprises the steps of building a vehicle kinematic model; based on the vehicle kinematic model, designing constraints of a prediction model and a parking system; designing a cost function, integrating speed planning, path planning and tracking control into an optimization problem, and obtaining a control problem description obeying a prediction model and constraints; and solving the control problem by adopting an interior point method to obtain an optimal open-loop control sequence, and selecting a first group of elements in the optimal open-loop control sequence to be applied to the to-be-controlled vehicle so as to realize automatic parallel parking. According to the integrated parallel parking trajectory planning and tracking control scheme provided by the invention, speed planning, path planning and tracking control are integrated into an optimization problem and solved, so that the safety and comfort of a parking dynamic process are effectively improved, and the structure of an automatic parking system is simplified.
本发明公开了一种一体式平行泊车轨迹规划和跟踪控制方法及系统,该方法包括:搭建车辆运动学模型;基于车辆运动学模型,设计预测模型和泊车系统的约束;设计代价函数,将速度规划、路径规划和跟踪控制整合为一个优化问题,得到服从于预测模型和约束的控制问题描述;采用内点法求解控制问题,得到最优开环控制序列,选取最优开环控制序列中的第一组元素应用于待控制的车辆,实现自动平行泊车。本发明所提供的一体式平行泊车轨迹规划和跟踪控制方案,将速度规划、路径规划和跟踪控制整合为一个优化问题,并进行求解,有效提高了泊车动态过程的安全性和舒适性,简化了自动泊车系统的结构。
Integrated parallel parking trajectory planning and tracking control method and system
一体式平行泊车轨迹规划和跟踪控制方法及系统
2021-11-12
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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