本发明提供一种基于模型预测控制的自动泊车轨迹规划方法,包括:将给定速度输入车辆运动学模型,车辆运动学模型输出车辆的预设初始位置和姿态,传输给泊车控制器与预设的泊车轨迹相比较,得出车辆位置与姿态的误差信号;其中,所述预设的泊车轨迹基于五次多项式曲线进行设计;基于车辆位置与姿态的误差信号,由泊车控制器基于模型预测控制进行计算控制,输出当前时刻控制车辆的转向角的数值,并输入到车辆运动学模型,和给定速度信号共同控制车辆的运行,如此循环,车辆不断逼近预设的泊车轨迹,实现自动泊车轨迹规划。本发明以五次多项式路径为主的路径规划设计和以模型预测控制为主的轨迹跟踪控制设计,大大提高了自动泊车轨迹规划的准确性。
The invention provides an automatic parking trajectory planning method based on model predictive control, which comprises the following steps: inputting a given speed into a vehicle kinematic model, outputting a preset initial position and attitude of a vehicle by the vehicle kinematic model, and transmitting the preset initial position and attitude to a parking controller to be compared with a preset parking trajectory so as to obtain an error signal of the position and attitude of the vehicle; wherein the preset parking track is designed based on a quintic polynomial curve; based on error signals of the position and the posture of the vehicle, the parking controller performs calculation control based on model prediction control, outputs a numerical value for controlling a steering angle of the vehicle at the current moment, inputs the numerical value into a vehicle kinematic model, and controls operation of the vehicle together with a given speed signal, and the cycle is repeated, so that the vehicle continuously approaches a preset parking track, and the parking is completed. And automatic parking track planning is realized. According to the method, the accuracy of automatic parking trajectory planning is greatly improved through the path planning design based on the quintic polynomial path and the trajectory tracking control design based on the model prediction control.
一种基于模型预测控制的自动泊车轨迹规划方法
2024-07-16
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 |