Abstract
This paper proposes autonomous parallel parking for a front-wheel steering vehicle, with highlights on a trajectory planning method and on a trajectory tracking control method. The trajectory planning problem is decoupled into the path planning problem and the longitudinal velocity planning problem to reduce the difficulty of the trajectory planning problem. First, a collision-free path by combining circle arcs with straight line is created to park the vehicle in one or more maneuvers on the premise of meeting the kinematic constraint of vehicle, and then the path is transformed into a continuous-curvature path using B-spline curve. Second, the longitudinal velocity is created using B-spline curve on the premise of meeting the performance constraints of driving and braking system. To execute the generated trajectory, a non-time reference path tracking sliding mode control strategy is deduced by Lyapunov stability theory, and a longitudinal velocity tracking proportional–integral control strategy is proposed based on smooth handoff method. Finally, the parking performance is verified based on model-in-the-loop simulation system.
Highlights
Nowadays, the autonomous driving has become an increasingly significant theme for automotive industry.1–3 The autonomous parking, which is a solution to solve the problem of ‘‘parking difficulty’’ for the inexperienced or unskilled drivers, is considered as a special topic in the autonomous driving
Considering the kinematic constraint of vehicle, a collision-free path by combining circle arcs with straight line is created to park the vehicle in one or more maneuvers if the parking space is very narrow, and the path is transformed into a continuous-curvature path using B-spline curve
To execute the generated trajectory, a non-time reference path tracking sliding mode control strategy is deduced by Lyapunov stability theory, and a longitudinal velocity tracking PI control strategy is proposed based on smooth handoff method
Summary
The autonomous driving has become an increasingly significant theme for automotive industry. The autonomous parking, which is a solution to solve the problem of ‘‘parking difficulty’’ for the inexperienced or unskilled drivers, is considered as a special topic in the autonomous driving. G1G2 and the circle arc G2G3 are set to the minimum radius Rmin, we can obtain the following equation based on the constraint of the available longitudinal distance m1 and the constraint that the vehicle should be parallel to the parking space at the end of forward move m1 = 2Rmin sin b2. _ _ the radii of the circle arc G1G2 and the circle arc G2G3 are set to the minimum radius Rmin, we can obtain the following equation based on the constraint of the available longitudinal distance m5 and the constraint that the vehicle should be parallel to the parking space at the end of forward move m5 = 2Rminð À cos b4Þ ð22Þ. The B-spline curve is used to design the transition curve between the point K0 and the point H0, the curvature of which is continuously and smoothly reduced from 1=Rmin to zero, and the
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