Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.

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Research on Path Planning and Tracking Control of Automatic Parking System

World Electric Vehicle Journal ◽

10.3390/wevj13010014 ◽

2022 ◽

Vol 13 (1) ◽

pp. 14

Author(s):

Bingzhan Zhang ◽

Zhiyuan Li ◽

Yaoyao Ni ◽

Yujie Li

Keyword(s):

Path Planning ◽

Predictive Control ◽

Tracking Control ◽

Path Tracking ◽

Preview Control ◽

Laboratory Environment ◽

Incremental Model ◽

Quintic Polynomial ◽

Parking System ◽

Automatic Parking

In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of traditional arc-straight combined curve, a quintic polynomial is used to smooth the path. we design a path tracking controller based on the incremental model predictive control (MPC). The preview control based on pure tracking algorithm is used as the comparison algorithm for path tracking. The feasibility of the controller is verified by building a Simulink/CarSim co-simulation platform. In addition, the practicality of the parking controller is further verified by using the ROS intelligent car in the laboratory environment.

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Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

Mathematical Problems in Engineering ◽

10.1155/2017/6590383 ◽

2017 ◽

Vol 2017 ◽

pp. 1-14 ◽

Cited By ~ 6

Author(s):

Yiding Hua ◽

Haobin Jiang ◽

Yingfeng Cai ◽

Xupei Zhang ◽

Shidian Ma ◽

...

Keyword(s):

Time Delay ◽

Tracking Control ◽

Control Method ◽

Simulation Analysis ◽

Cloud Model ◽

Kinematic Model ◽

Path Tracking ◽

Steering Control ◽

Parking System ◽

Automatic Parking

This paper establishes the kinematic model of the automatic parking system and analyzes the kinematic constraints of the vehicle. Furthermore, it solves the problem where the traditional automatic parking system model fails to take into account the time delay. Firstly, based on simulating calculation, the influence of time delay on the dynamic trajectory of a vehicle in the automatic parking system is analyzed under the transverse distance Dlateral between different target spaces. Secondly, on the basis of cloud model, this paper utilizes the tracking control of an intelligent path closer to human intelligent behavior to further study the Cloud Generator-based parking path tracking control method and construct a vehicle path tracking control model. Moreover, tracking and steering control effects of the model are verified through simulation analysis. Finally, the effectiveness and timeliness of automatic parking controller in the aspect of path tracking are tested through a real vehicle experiment.

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Sliding Mode Path Tracking Control for Spraying Mobile Robots Based on Weighed Integral Gain Reaching Law

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.313-314.932 ◽

2013 ◽

Vol 313-314 ◽

pp. 932-936 ◽

Cited By ~ 1

Author(s):

Xue Mei Niu ◽

Guo Qin Gao ◽

Hai Yan Zhou

Keyword(s):

Tracking Control ◽

Closed Loop ◽

Control Method ◽

Sliding Mode ◽

Path Tracking ◽

Closed Loop System ◽

Reaching Law ◽

Control Precision ◽

Weighted Integral ◽

Integral Gain

For the spraying mobile robot, in order to solve the bad effect of the complex unstructured environment of intensive planting, ground obstacles and spatial disorders coexisting on the path tracking control precision, a sliding mode control method is proposed based on weighted integral gain reaching law to reduce chattering and to improve tracking performance of the system. Moreover, the asymptotical stability of the closed loop system is proved using Lyapunov function. Finally simulation results illustrate the validity and feasibility of the proposed control method.

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Research and Experiment on Path-Tracking Control of Autonomous Tractor Based on Lateral Deviation and Yaw Rate Feedback

Applied Engineering in Agriculture ◽

10.13031/aea.14538 ◽

2021 ◽

Vol 37 (5) ◽

pp. 891-899

Author(s):

Bingli Zhang ◽

Jin Cheng ◽

Pingping Zheng ◽

Aojia Li ◽

Xiaoyu Cheng

Keyword(s):

Tracking Control ◽

Control Algorithm ◽

Sliding Mode ◽

Path Tracking ◽

Steering Angle ◽

Lateral Deviation ◽

Yaw Rate ◽

Automatic Navigation ◽

Rate Feedback ◽

The Ideal

HighlightsAutomatic navigation technology in autonomous tractors is one of the key technologies in precision agriculture.A path-tracking control algorithm based on lateral deviation and yaw rate feedback is proposed.The modified steering angle was obtained by comparing the ideal yaw rate with the actual yaw rate.The results demonstrate the efficiency and superior accuracy of the proposed algorithm for tractor path-tracking control.Abstract. The performance of path-tracking control systems for autonomous tractors affects the quality and efficiency of farmland operations. The objective of this study was to develop a path-tracking control algorithm based on lateral deviation and yaw rate feedback. The autonomous tractor path lateral dynamics model was developed based on preview theory and a two-degree-of-freedom tractor model. According to the established dynamic model, a path-tracking control algorithm using yaw angular velocity correction was designed, and the ideal steering angle was obtained by lateral deviation and sliding mode control. The modified steering angle was obtained by a proportional-integral-derivative feedback controller after comparing the ideal yaw rate with the actual yaw rate, which was then combined with the ideal steering angle to obtain the desired steering angle. The simulation and experimental results demonstrate the efficiency and superior accuracy of the proposed tractor path-tracking control algorithm, enabling its application in automatic navigation control systems for autonomous tractors. Keywords: Autonomous tractor, Path-tracking control, Sliding mode control, Yaw rate feedback.

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A Hybrid Bioinspired Backstepping Sliding Mode Tracking Control Method for Underactuated Surface Vessels

Telehealth and Assistive Technology / 847: Intelligent Systems and Robotics ◽

10.2316/p.2016.847-020 ◽

2016 ◽

Author(s):

Yu Tian ◽

Simon X. Yang ◽

Shumin Sun

Keyword(s):

Tracking Control ◽

Control Method ◽

Sliding Mode ◽

Surface Vessels ◽

Underactuated Surface Vessels ◽

Mode Tracking

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Tracking control via sliding mode for heavy-haul trains with input saturation

Measurement and Control ◽

10.1177/0020294020952459 ◽

2020 ◽

pp. 002029402095245 ◽

Cited By ~ 1

Author(s):

Jing He ◽

Xingxing Yang ◽

Changfan Zhang ◽

Jianhua Liu ◽

Qian Zhang ◽

...

Keyword(s):

Tracking Control ◽

Control Method ◽

Sliding Mode ◽

Input Saturation ◽

Tracking Accuracy ◽

Uncertain Disturbances ◽

Heavy Haul ◽

New Type ◽

Heavy Haul Trains ◽

Compensation Signal

To address the tracking control problem of heavy-haul trains (HHTs) with input saturation during operation, an anti-saturation sliding mode (SMES) control method based on dynamic auxiliary compensator (DAC) is presented. Firstly, an HHT model with nonlinear coupling and uncertain disturbances is built. Secondly, a new type of DAC is introduced to overcome the difficulty of traditional dynamic auxiliary compensator (TDAC) with a large upper bound on the compensation signal. Finally, an anti-saturation SMES control algorithm is designed to reduce the influence of input saturation on the tracking accuracy of each carriage. Simulation results verify the effectiveness of the algorithm in terms of tracking accuracy, anti-interference, and anti-saturation.

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