首页|Path Tracking Controller Design of Automated Parking Systems via NMPC with an Instructible Solution

Path Tracking Controller Design of Automated Parking Systems via NMPC with an Instructible Solution

扫码查看
原文链接
  • NETL
  • NSTL
  • 万方数据
Parking difficulties have become a social issue that people have to solve.Automated parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking accidents.The paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking conditions.Firstly,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking effectively.Secondly,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the perfor-mance of local optimal solution.Thirdly,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is presented.The closed-loop stability is verified via Lyapunov techniques by consider-ing the terminal constraint and terminal cost theoretically.Finally,the proposed RF-LNMPC is implemented on a self-driving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking conditions.The Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.

Automated parkingPath tracking controllerNonlinear model predictive controlMonte Carlo analysis

Liang Chen、Zhaobo Qin、Manjiang Hu、Yougang Bian、Xiaoyan Peng

展开 >

State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle,College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China

Wuxi Intelligent Control Research Institute of Hunan University,Wuxi 214115,China

National Key R&D Program of ChinaNational Natural Science Foundation of ChinaScience and Technology Innovation Program of Hunan Province of ChinaState Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle of China

2021YFB2501800521723842021RC304872275004

2024

10.1186/s10033-024-01042-4

中国机械工程学报
中国机械工程学会

中国机械工程学报

CSTPCD
影响因子：0.765
ISSN：1000-9345
年,卷(期)：2024.37(3)