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Path following method and apparatus of auxiliary parking system

A technology for assisting parking and routing. It is applied in special data processing applications, instruments, electrical and digital data processing, etc. It can solve the problems of small controller calculation and tedious debugging work, and achieve the goal of facilitating algorithm parameter setting, ensuring high precision and high accuracy. The effect of fast convergence of errors

Active Publication Date: 2017-02-01
TONGJI UNIV
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Problems solved by technology

In "Path Following of Fully Automatic Parking System", Cheng Kunpeng linearized the feedback of the vehicle kinematics model based on the differential flat theory, and then used the pole configuration method to make the error converge. Configure three poles at the same time, the determination of the poles makes the debugging work more cumbersome

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  • Path following method and apparatus of auxiliary parking system
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  • Path following method and apparatus of auxiliary parking system

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0032] A path following device of an intelligent assisted parking system according to the present invention, such as figure 1 As shown, it includes: input unit, path following unit and vehicle control unit.

[0033] The path following unit includes two sub-modules of lateral control and longitudinal control, such as figure 2 shown. Lateral control: compare the real-time vehicle pose returned by the pose estimation unit with the planned path to obtain the real-time tracking error, obtain the linear system in the new time domain through time scale scaling and feedback linearization, and introduce the quadratic performance of the following error Index, the linear quadratic optimal controller (LQR) performs closed-loop control on the linear system. And the method of open-loop auxiliary control is used to solve the algorithm singular point probl...

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Abstract

The invention discloses a path following method and apparatus of an auxiliary parking system. The method comprises transverse control and longitudinal control. According to the transverse control, following error linear information is obtained through time scale zooming and feedback linearization, and based on this, transverse linear secondary optimal control is performed on the system; and the longitudinal control comprises planning a speed whose accelerated speed changes continuously along with a driving distance. The path following apparatus of the intelligent auxiliary parking system comprises an input unit, a path following unit and a vehicle control unit, wherein the path following unit comprises a transverse control sub-module and a longitudinal control sub-module, the transverse control sub-module, according to information input by the input unit, introduces an -alpha stability design based improved secondary performance index, designs an improved linear secondary optimal controller for performing closed-loop control on the system, and the longitudinal control sub-module designs a reasonable speed plan by use of an algorithm in which the accelerated speed changes continuously along with the driving distance. According to the invention, high precision, fast error convergence and passenger comfortableness in a parking process are guaranteed.

Description

technical field [0001] The invention belongs to the technical field of automobiles, and relates to driving assistance technology, in particular to an intelligent parking path following device. Background technique [0002] With the acceleration of urban development, the number of motor vehicles has increased rapidly, which has caused problems such as tight parking spaces and parking difficulties. The narrow parking space and the driver's limited field of vision make it difficult to park in place. As car consumers continue to put forward new requirements for vehicle parking assistance systems, intelligent assisted parking systems have become a hot research topic at home and abroad in recent years. [0003] A typical intelligent assisted parking system realizes the automatic parking function according to the hierarchical mode of "perception-planning-tracking". The advantage of this structural system is that the boundaries of each subsystem are clear and orderly, and it is ea...

Claims

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Application Information

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IPC IPC(8): G06Q10/04G06F17/50B60W30/06
CPCB60W30/06G06F30/367G06Q10/047
Inventor 陈慧范正帅
Owner TONGJI UNIV
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