基于滑模控制的自动泊车系统路径跟踪研究
|
摘要
现有的自动泊车系统研究,由于忽略实际车辆转向约束和初始位姿条件而影响实际车辆跟踪参考路径效果,本文提出基于B样条曲线的路径规划算法和基于趋近律的非时间参考终端滑模路径跟踪控制算法。首先,对车辆的运动过程进行研究,建立车辆的运动学模型。其次,基于B样条曲线理论建立非线性约束平行泊车路径优化函数,并分析车辆运动学约束条件。然后,结合非时间参考路径跟踪控制和终端滑模控制方法,提出基于趋近律的非时间参考终端滑模路径跟踪控制方法。最后,通过Simulink和Car Sim联合仿真,验证了规划路径的合理性以及路径跟踪控制器的效果。
In the research of the existing automatic parking system,the actual vehicle tracking constraints and initial pose conditions were ignored,which affected the actual vehicle tracking reference path effect.A path planning algorithm based on the B-spline theory and a non-time reference terminal sliding mode tracking control method based on approach law were proposed. Firstly,the motion process of vehicle was studied and the vehicle kinematics model was set up. Secondly,based on the B-spline theory,a nonlinear constraint single step parallel parking path optimization function was established,and vehicle kinematics constraints was analyzed. Then,based on non-time reference path tracking control and terminal sliding mode control method,a non-time reference terminal sliding mode tracking control method based on approach law was proposed. The non-time reference method was applied to avoid the influence of vehicle speed control and reduce the speed control requirement. Combining with the terminal sliding mode control method based on the reaching law,the controller controlled the vehicle tracking to the reference path,reduced the tracking error,improved the approach quality and reduced the buffing phenomenon. Finally,the path planning simulation was conducted for the initial position of the tilted parking,in order to verify the rationality of the path planning method. The effect of the design controller was verified by tracking the sinusoidal reference path on Simulink. And based on the Simulink and CarSim software,the rationality of the planning path and the control effect of the path tracking controller were verified.
In the research of the existing automatic parking system,the actual vehicle tracking constraints and initial pose conditions were ignored,which affected the actual vehicle tracking reference path effect.A path planning algorithm based on the B-spline theory and a non-time reference terminal sliding mode tracking control method based on approach law were proposed. Firstly,the motion process of vehicle was studied and the vehicle kinematics model was set up. Secondly,based on the B-spline theory,a nonlinear constraint single step parallel parking path optimization function was established,and vehicle kinematics constraints was analyzed. Then,based on non-time reference path tracking control and terminal sliding mode control method,a non-time reference terminal sliding mode tracking control method based on approach law was proposed. The non-time reference method was applied to avoid the influence of vehicle speed control and reduce the speed control requirement. Combining with the terminal sliding mode control method based on the reaching law,the controller controlled the vehicle tracking to the reference path,reduced the tracking error,improved the approach quality and reduced the buffing phenomenon. Finally,the path planning simulation was conducted for the initial position of the tilted parking,in order to verify the rationality of the path planning method. The effect of the design controller was verified by tracking the sinusoidal reference path on Simulink. And based on the Simulink and CarSim software,the rationality of the planning path and the control effect of the path tracking controller were verified.
引文
[1] ZANG J I,XUAN D J,KIM J W,et al. A study of autonomous parking for a 4-wheel driven mobile robot[C]∥Proceedings ofthe 26th Chinese Control Conference,2007:179-184.
[2] HSU T H,LIU J F,YU P N,et al. Development of an automatic parking system for vehicle[C]∥IEEE Vehicle Power andPropulsion Conference,2008:1-6.
[3] DEMIRLI K,KHOSHNEJAD M. Autonomous parallel parking of a car like mobile robot by a neuro-fuzzy sensor-based controller[J]. Fuzzy Sets and System,2009,160(19):2876-2891.
[4] KIM D,CHUNG W,PARK S. Practical motion planning for car parking control in narrow environment[J]. IET Control Theoryand Applications,2010,4(1):129-139.
[5] LIM W,KIM J,JO K,et al. Turning standard line(TSL)based path planning algorithm for narrow parking lots[C]. SAE Paper2015-01-0298,2015.
[6] DAS S,YARLAGADDA Y,VORA P B,et al. Trajectory planning and fuzzy control for perpendicular parking[C]∥MFI2017—2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems,2017:518-523.
[7] TAZAKI Y,OKUDA H,SUZUKI T. Parking trajectory planning using multiresolution state roadmaps[J]. Transactions onIntelligent Vehicles,2017,2(4):298-307.
[8]张驰.基于连续曲率的平行泊车路径规划研究[D].合肥:合肥工业大学,2015.ZHANG Chi. Trajectory planning of automatic parallel parking based on continuous curvature[D]. Hefei:Hefei University ofTechnology,2015.(in Chinese)
[9]郭奕摧.自主泊车系统轨迹规划及实现[D].成都:西南交通大学,2017.GUO Yicui. Autonomous parking system trajectory planning and implementation[D]. Chengdu:Southwest Jiaotong University,2017.(in Chinese)
[10]李潇傲.基于Gauss伪谱法的泊车轨迹规划算法[D].上海:上海交通大学,2015.LI Xiaoao. Parking trajectory planning algorithm based on Gauss pseudospectral method[D]. Shanghai:Shanghai JiaotongUniversity,2015.(in Chinese)
[11]王栋耀,马旭东,戴先中.非时间参考的移动机器人路径跟踪控[J].机器人,2004,26(3):198-203.WANG Dongyao,MA Xudong,DAI Xianzhong. Non-time based path tracking control for mobile robots[J]. Robot,2004,26(3):198-203.(in Chinese)
[12] MOON J,BAE I,CHA J G,et al. A trajectory planning method based on forward path generation and backward trackingalgorithm for automatic parking systems[C]∥17th IEEE International Conference on Intelligent Transportation Systems,ITSC,2014:719-724.
[13] ZHDANOV A A,KLIMOV D M,KOROLEV V V,et al. Modeling parallel parking a car[J]. Journal of Computer and SystemsSciences International,2008,47(6):907-917.
[14] RIGATOS G G,TZAFESTAS S G,EVANGELIDIS G J. Reactive parking control of nonholonomic vehicles via a fuzzy learningautomation[J]. Control Theory and Applications,2001,148:169-179.
[15]胡剑波,庄开宇.高级变结构控制理论及应用[M].西安:西北工业大学出版社,2007:53-57.
[16]周涛.基于一种新型趋近律的自适应滑模控制[J].控制与决策,2017,31(7):1335-1338.ZHOU Tao. Adaptive sliding mode control based on a new approach law[J]. Control and Decision,2017,31(7):1335-1338.(in Chinese)
[17]徐兴,卢山峰,陈龙,等.基于差动和自主转向协调的分布式驱动无人车轨迹跟踪[J].汽车工程,2018(4):475-481.XU Xing,LU Shanfeng,CHEN Long,et al. Distributed drive unmanned vehicle trajectory tracking based on differential andautonomous steering coordination[J]. Automotive Engineering,2018(4):475-481.(in Chinese)
[18]张亮修,吴光强,郭晓晓.自主车辆线性时变模型预测路径跟踪控制[J].同济大学学报(自然科学版),2016,44(10):1595-1603.ZHANG Liangxiu,WU Guangqiang,GUO Xiaoxiao. Prediction of path tracking for linear time-varying model of autonomousvehicles[J]. Journal of Tongji University(Natural Science),2016,44(10):1595-1603.(in Chinese)
[19] KIM J M,LIM K I,KIM J H. Auto parking path planning system using modified reeds-shepp curve algorithm[C]∥11thInternational Conference on Ubiquitous Robots and Ambient Intelligence,2014:311-315.
[20] CHEN Q,CHEN T,YU H,et al. Lateral control for autonomous parking system with fractional order controller[J]. Journal ofSoftware,2011,6(6):1075-1078.
[21]李培新,姜小燕,魏燕定,等.基于跟踪误差模型的无人驾驶车辆预测控制方法[J/OL].农业机械学报,2017,48(10):351-357.LI Peixin,JIANG Xiaoyan,WEI Yanding,et al. Predictive control method of autonomous vehicle based on tracking-errormodel[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(10):351-357. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20171045&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2017. 10. 045.(in Chinese)
[22]李建国,战凯,石峰,等.基于最优轨迹跟踪的地下铲运机无人驾驶技术[J/OL].农业机械学报,2015,46(12):323-328.LI Jianguo,ZHAN Kai,SHI Feng,et al. Auto-driving technology for underground scraper based on optimal trajectory tracking[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):323-328. http:∥www. j-csam.org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20151244&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2015. 12. 044.(in Chinese)
[2] HSU T H,LIU J F,YU P N,et al. Development of an automatic parking system for vehicle[C]∥IEEE Vehicle Power andPropulsion Conference,2008:1-6.
[3] DEMIRLI K,KHOSHNEJAD M. Autonomous parallel parking of a car like mobile robot by a neuro-fuzzy sensor-based controller[J]. Fuzzy Sets and System,2009,160(19):2876-2891.
[4] KIM D,CHUNG W,PARK S. Practical motion planning for car parking control in narrow environment[J]. IET Control Theoryand Applications,2010,4(1):129-139.
[5] LIM W,KIM J,JO K,et al. Turning standard line(TSL)based path planning algorithm for narrow parking lots[C]. SAE Paper2015-01-0298,2015.
[6] DAS S,YARLAGADDA Y,VORA P B,et al. Trajectory planning and fuzzy control for perpendicular parking[C]∥MFI2017—2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems,2017:518-523.
[7] TAZAKI Y,OKUDA H,SUZUKI T. Parking trajectory planning using multiresolution state roadmaps[J]. Transactions onIntelligent Vehicles,2017,2(4):298-307.
[8]张驰.基于连续曲率的平行泊车路径规划研究[D].合肥:合肥工业大学,2015.ZHANG Chi. Trajectory planning of automatic parallel parking based on continuous curvature[D]. Hefei:Hefei University ofTechnology,2015.(in Chinese)
[9]郭奕摧.自主泊车系统轨迹规划及实现[D].成都:西南交通大学,2017.GUO Yicui. Autonomous parking system trajectory planning and implementation[D]. Chengdu:Southwest Jiaotong University,2017.(in Chinese)
[10]李潇傲.基于Gauss伪谱法的泊车轨迹规划算法[D].上海:上海交通大学,2015.LI Xiaoao. Parking trajectory planning algorithm based on Gauss pseudospectral method[D]. Shanghai:Shanghai JiaotongUniversity,2015.(in Chinese)
[11]王栋耀,马旭东,戴先中.非时间参考的移动机器人路径跟踪控[J].机器人,2004,26(3):198-203.WANG Dongyao,MA Xudong,DAI Xianzhong. Non-time based path tracking control for mobile robots[J]. Robot,2004,26(3):198-203.(in Chinese)
[12] MOON J,BAE I,CHA J G,et al. A trajectory planning method based on forward path generation and backward trackingalgorithm for automatic parking systems[C]∥17th IEEE International Conference on Intelligent Transportation Systems,ITSC,2014:719-724.
[13] ZHDANOV A A,KLIMOV D M,KOROLEV V V,et al. Modeling parallel parking a car[J]. Journal of Computer and SystemsSciences International,2008,47(6):907-917.
[14] RIGATOS G G,TZAFESTAS S G,EVANGELIDIS G J. Reactive parking control of nonholonomic vehicles via a fuzzy learningautomation[J]. Control Theory and Applications,2001,148:169-179.
[15]胡剑波,庄开宇.高级变结构控制理论及应用[M].西安:西北工业大学出版社,2007:53-57.
[16]周涛.基于一种新型趋近律的自适应滑模控制[J].控制与决策,2017,31(7):1335-1338.ZHOU Tao. Adaptive sliding mode control based on a new approach law[J]. Control and Decision,2017,31(7):1335-1338.(in Chinese)
[17]徐兴,卢山峰,陈龙,等.基于差动和自主转向协调的分布式驱动无人车轨迹跟踪[J].汽车工程,2018(4):475-481.XU Xing,LU Shanfeng,CHEN Long,et al. Distributed drive unmanned vehicle trajectory tracking based on differential andautonomous steering coordination[J]. Automotive Engineering,2018(4):475-481.(in Chinese)
[18]张亮修,吴光强,郭晓晓.自主车辆线性时变模型预测路径跟踪控制[J].同济大学学报(自然科学版),2016,44(10):1595-1603.ZHANG Liangxiu,WU Guangqiang,GUO Xiaoxiao. Prediction of path tracking for linear time-varying model of autonomousvehicles[J]. Journal of Tongji University(Natural Science),2016,44(10):1595-1603.(in Chinese)
[19] KIM J M,LIM K I,KIM J H. Auto parking path planning system using modified reeds-shepp curve algorithm[C]∥11thInternational Conference on Ubiquitous Robots and Ambient Intelligence,2014:311-315.
[20] CHEN Q,CHEN T,YU H,et al. Lateral control for autonomous parking system with fractional order controller[J]. Journal ofSoftware,2011,6(6):1075-1078.
[21]李培新,姜小燕,魏燕定,等.基于跟踪误差模型的无人驾驶车辆预测控制方法[J/OL].农业机械学报,2017,48(10):351-357.LI Peixin,JIANG Xiaoyan,WEI Yanding,et al. Predictive control method of autonomous vehicle based on tracking-errormodel[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(10):351-357. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20171045&journal_id=jcsam. DOI:10. 6041/j. issn.1000-1298. 2017. 10. 045.(in Chinese)
[22]李建国,战凯,石峰,等.基于最优轨迹跟踪的地下铲运机无人驾驶技术[J/OL].农业机械学报,2015,46(12):323-328.LI Jianguo,ZHAN Kai,SHI Feng,et al. Auto-driving technology for underground scraper based on optimal trajectory tracking[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):323-328. http:∥www. j-csam.org/jcsam/ch/reader/view_abstract. aspx? flag=1&file_no=20151244&journal_id=jcsam. DOI:10. 6041/j. issn. 1000-1298. 2015. 12. 044.(in Chinese)
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |