Multiple segment method for automatic parking path planning and its key technology
A strategy to turn the steering wheel uniformly while parking is put forward to design a parking path with more consistency and fewer calculations.First,the trajectory of the center point on rear axle is deduced while the vehicle is driven at low speed and the steering wheel is turned uniformly.Second,the parking process is divided into five stages and the parameters of the optimized path are obtained according to obstacle avoidance.Third,the vehicle speed control system based on the PID closed-loop feedback theory is designed,and experiments show that the real speed matches the expected speed.Fourth,the signal of the torque sensor needed by EPS controller is simulated by parking controller;then the steering wheel rotational speed control system is designed,and relationship between the torque and rotational speed is obtained by system identification.Experiments show that the degree of fitting between torques given by system identification and real torques is above 96％.Finally,the change of vehicle speed,rotating angle of the steering wheel,accelerator and brake of two segment parking and five segment parking are obtained.Comparison of two segment parking and five segment parking shows that five segment parking has higher consistency.
engineering of communication and transportation systemautomatic parkingpath planningvehicle speed controlsteering wheel rotational speed control
NETL
NSTL
万方数据
维普
