The invention discloses an automatic parking trajectory tracking control method based on a linear time-varying model, and the control method comprises the steps: building a vehicle linear time-varying model based on vehicle state information; based on the target parking space information and the current position information of the vehicle, generating an ideal vehicle trajectory by using a path planning algorithm; based on the established linear time-varying model, designing a controller to control the vehicle to track a target trajectory; the designed controller is implemented, the state of the vehicle is monitored, and a control input target track is applied to the vehicle; the state and the trajectory tracking effect of the vehicle are continuously monitored, and parameters of the controller are adjusted according to the actual situation; and after the parking operation is completed, the performance and the parking effect of the system are evaluated. According to the method, the vehicle linear time-varying model is established, so that the adaptability of the automatic parking control method is higher, the calculation efficiency is higher, and when the vehicle density or the obstacle position of the parking field changes, the control system can quickly adjust.
本发明公开了一种基于线性时变模型的自动泊车轨迹跟踪控制方法,控制方法包括:基于车辆状态信息,建立车辆线性时变模型;基于目标停车位信息与车辆当前位置信息,利用路径规划算法生成车辆理想轨迹;基于建立的线性时变模型,设计控制器来控制车辆对目标轨迹的跟踪;实施设计好的控制器,监控车辆的状态,并对车辆施加控制输入目标轨迹;持续监控车辆的状态和轨迹跟踪效果,根据实际情况对控制器参数进行调整;完成泊车操作后,对系统的性能和泊车效果进行评估。本发明通过建立车辆线性时变模型,能使自动泊车控制方法的适应性更强,计算效率更高,当泊车场地的车辆密度或障碍物位置发生变化时,控制系统能快速地进行调整。
Automatic parking trajectory tracking control method based on linear time-varying model
一种基于线性时变模型的自动泊车轨迹跟踪控制方法
2024-10-11
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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