Research on Parallel Parking Path Planning Based on Model Predictive Control
Aimming at the current problem that model predictive control(MPC)path planning method is rarely used in the research field of automatic parking path planning,this paper puts forward a solution combining the characteristics of MPC and parallel parking path planning.Firstly,the scheme is based on the kinematic e-quation of the bicycle,and the reference path of straight line between the parking starting point and the target end point.Then,the obstacle avoidance constraints are established by vector product method,and the extreme values of vehicle speed and steering are taken as the control constraints.Finally,the objective function is defined and transformed into the standard quadratic form.The scheme is simulated by Matlab with different starting point coordinates,different parking space sizes and different heading angle,and its feasibility is analyzed from the dimensions of effective obstacle avoidance,smooth path,small pose error and continuous heading angle.
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