Based on the vehicle dynamics model,a linear quadratic controller is designed for the tracking control of the vehicle in the parking process,and a parking path with continuous curvature is planned using the B-spline curve.The selection of coefficients is difficult,and the fuzzy logic algorithm is introduced to optimize the controller,which saves labor costs.However,the calculation of the fuzzy logic algorithm is real-time,and the state of the vehicle is different at different speeds.Therefore,the update strategy based on the Frobenius norm is added to the program calculation in order to reduce the amount of calculation and the MATLAB/Carsim joint simulation is used to verify that the operation time of the improved control system is reduced to 0.2 ms,the real-time performance is increased by 92％,and the adaptability is increased by 30％.
维普
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