Abstract
In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of traditional arc-straight combined curve, a quintic polynomial is used to smooth the path. we design a path tracking controller based on the incremental model predictive control (MPC). The preview control based on pure tracking algorithm is used as the comparison algorithm for path tracking. The feasibility of the controller is verified by building a Simulink/CarSim co-simulation platform. In addition, the practicality of the parking controller is further verified by using the ROS intelligent car in the laboratory environment.
Highlights
With the improvement of living standards, the role of cars has gradually changed from a luxury to a necessity of people’s daily lives
Derivatives at the starting point and the ending point are approximately equal to the preview control based on pure tracking algorithm is used as the comparison algorithm for path tracking
Kinematic model is built to solve for thefor parking start point region, path planavehicle vehicle kinematic model is built to solve the parking start pointand region, and path ning is performed by using the quintic polynomial
Summary
With the improvement of living standards, the role of cars has gradually changed from a luxury to a necessity of people’s daily lives. Huang proposed a model-free intelligent, self-organizing fuzzy controller for parking path tracking. This intelligent controller has a system-learning mechanism without expert knowledge or a trialand-error process [4]. There should for control, andproperties ease of development for a accuracy, good model [10].interpretation, MPC is a typical approach be desirable of approximation physical suitability for in industrial advanced control. It hasfor been widely used [10]. Planning and path tracking control algorithms of the automatic parallel parking system
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