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基于非线性模型预测控制的自动泊车路径跟踪

顾青 白国星 孟宇 刘立 罗维东 甘鑫

顾青, 白国星, 孟宇, 刘立, 罗维东, 甘鑫. 基于非线性模型预测控制的自动泊车路径跟踪[J]. 工程科学学报, 2019, 41(7): 947-954. doi: 10.13374/j.issn2095-9389.2019.07.014
引用本文: 顾青, 白国星, 孟宇, 刘立, 罗维东, 甘鑫. 基于非线性模型预测控制的自动泊车路径跟踪[J]. 工程科学学报, 2019, 41(7): 947-954. doi: 10.13374/j.issn2095-9389.2019.07.014
GU Qing, BAI Guo-xing, MENG Yu, LIU Li, LUO Wei-dong, GAN Xin. Path tracking of automatic parking based on nonlinear model predictive control[J]. Chinese Journal of Engineering, 2019, 41(7): 947-954. doi: 10.13374/j.issn2095-9389.2019.07.014
Citation: GU Qing, BAI Guo-xing, MENG Yu, LIU Li, LUO Wei-dong, GAN Xin. Path tracking of automatic parking based on nonlinear model predictive control[J]. Chinese Journal of Engineering, 2019, 41(7): 947-954. doi: 10.13374/j.issn2095-9389.2019.07.014

基于非线性模型预测控制的自动泊车路径跟踪

doi: 10.13374/j.issn2095-9389.2019.07.014
基金项目: 

国家重点研发计划资助项目(No.2018YFC0604403, No.2016YFC0802905)

国家高技术研究发展计划资助项目(No.2011AA060408)

中央高校基本科研业务费专项资金资助项目(No.FRF-TP-17-010A2)

详细信息
  • 中图分类号: U471.1

Path tracking of automatic parking based on nonlinear model predictive control

  • 摘要: 与行驶速度较高的其他无人驾驶工况相比,自动泊车时参考路径的曲率较大,因此车辆转向轮转角速度的限制等系统约束条件会严重影响自动泊车路径跟踪控制器的性能. 为了解决这一问题,提出了基于非线性模型预测控制的自动泊车路径跟踪控制器,并在MATLAB/Simulink和PreScan联合仿真环境中将该控制器与基于线性时变模型预测控制的控制器进行了对比. 仿真结果表明非线性模型预测控制器可以实现多约束条件下的自动泊车,泊车完成后车辆航向与车位中线的夹角为0.0189 rad,车辆后桥中点与车位中线的距离为0.1045 m,仅为车身宽度的5.56%. 相比线性时变模型预测控制器,非线性模型预测控制器具有泊车精度更高、安全裕度更大、泊车耗时更少等优势. 在实时性方面,该控制器也能够满足自动泊车的需求.
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出版历程
  • 收稿日期:  2018-11-13

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