全自动泊车系统的路径跟随.pdfVIP

2013 中国汽车工程学会年会优秀论文 全自动泊车系统的路径跟随* 程昆朋1 2 陈慧1 2 同济大学 同济大学新能源汽车工程中心 渊1. 曰2. 冤 【摘要】提出了一种包含侧向和纵向运动控制模块的路径跟随策略 搭建了基于微分平坦理论的侧向运动控制 模块 把非线性车辆模型反馈线性化 通过极点配置实现了对车辆行驶轨迹的闭环控制 搭建了双闭环纵向运动控 遥 制模块 外环对车辆的行驶距离进行控制 内环对车辆的纵向车速进行控制 实车试验结果表明 该控制策略能把跟 遥 随误差限制在7 cm 内遥 主题词：全自动泊车 路径跟随 Time-scaling 微分平坦 中图分类号： 文献标识码： 文章编号： U463.6 A 员园园园原猿苑园猿 圆园13冤10原园园26原园4 Path Following of A Fully-automatic Parking Assist System Cheng Kunpeng 1 2 Chen Hui 1 2 渊1.Tongji University 曰2.New Energy Automotive Engineering Center Tongji University 冤 揖 遭泽贼则葬糟贼铱A following strategy of a fully-automatic parking assist system comprising lateral and longitudinal motion control module is presented in this paper. The lateral motion control module based on differential flatness theory is established. After linearizing the non -linear vehicle model feedback, closed loop of vehicle traveling track is realized through pole placement. Dual closed -loop longitudinal motion control module is established, with the outer closed -loop controls the distance traveled of the vehicle, while the inner-loop controls the longitudinal velocity. Field test results show that with this control strategy, following error can be limited within 7 centimeters. 运藻赠 憎燥则凿泽院 Fully-automatic parking Path following Time-scaling Differential flatness 器 并利用李亚普诺夫直接法证明了控制器的稳定 1 自动泊车系统概述 性 但是在控制器中侧向控制和纵向控制具有耦