Abstract
PurposeThe purpose of this study is to solve the problem of path planning and path tracking in the automatic parking assistant system.Design/methodology/approachThis paper first uses the method of reverse driving to confirm few control points based on the constraints of the construction of the vehicle and the environment information, then a reference path with free-collision and continuous curvature is designed based on the Bézier curve. According to the principle of the discrete linear quadratic regulator (LQR), a tracking controller that combines feedforward control and feedback control is designed.FindingsFinally, simulation analysis are carried out in Simulink and CARSIM. The results show that the proposed method can obtain a better path tracking effect when the parking space size is appropriate.Originality/valueAccording to the principle of the discrete LQR, a tracking controller that combines feedforward control and feedback control is designed.
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