Research on Forward Automatic Parking Trajectory Tracking Based on Model Prediction Control
In order to park to charging for new energy vehicles having prepositive charging port,referencing the plan-ning trajectories which including two stages of reversing and forward loading,this paper proposes a forward automatic parking trajectory tracking scheme based on model predictive control(MPC).According to the pose information of the segmented trajectory,the MPC trajectory tracking algorithm is designed by the linear error model of vehicle kinematics.The control scheme is applied to the forward parking simulation scene of vertical space to verify the feasibility.Comparis-ing with the PID trajectory tracking algorithm,the control scheme shows higher trajectory tracking accuracy.
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