牵引挂车垂直泊车路径规划与运动控制

doi:10.13976/j.cnki.xk.2023.2088

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摘要为解决牵引挂车由于结构复杂、盲区范围大等因素造成的人工泊车困难，提出了一种适用于牵引挂车单步式垂直泊车的路径规划与运动控制方法。在规划阶段，提出以铰接角作为挂车最大虚拟转向角来计算最小转弯半径，考虑其在泊车过程中的碰撞约束，选定可行起始点区域，利用B样条曲线规划出一条无碰撞的参考路径。运动控制阶段，建立以挂车后轴中心为研究对象的运动学模型，设计基于该运动学模型的模型预测控制器，针对该控制器提出了一种参考信息选取原则。最后，利用Simulink与TruckSim针对不同泊车起始点与不同车位尺寸进行仿真分析，结果表明：所提出的路径规划方法使牵引挂车的泊车起始点为可行起始区域内的任意值，扩大了起泊点的可选范围；车辆可无碰撞地泊入垂直车位且具有较小的跟踪误差，证明所设计的控制器具有良好的控制效果。

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	贾生超
	彭加耕
	黄伟
	黄钦明

关键词 ：自动泊车, 牵引挂车, 路径规划, 运动控制

Abstract：Semi-trailer trucks often face difficulty during manual parking owing to their complex structure and large blind areas. Thus， in order to resolve these issues， we propose a path planning and motion control method suitable for single-step perpendicular parking of semi-trailer trucks. In the planning stage， we consider the articulation angle as the maximum virtual steering angle of the semi-trailer truck to calculate its minimum turning radius. Then， we select a feasible starting point area by considering the collision constraint of the truck during the parking process and use the B-spline curve to plan a collision-free reference path. In the motion control stage， we consider the center of the rear axle of the semi-trailer truck as the research object so as to design a model predictive controller based on the established kinematic model. We then propose a reference information selection principle for the controller. Finally， we use Matlab and TruckSim to simulate and analyze different parking starting points and different parking space sizes. Our simulation results show that the parking starting point of the trailer is an arbitrary value in the feasible starting area and that the optional range of parking starting points can be expanded. Our proposed method enables the truck to be parked in a perpendicular parking space without collision and with less tracking error. This observation confirms the good control effect of the designed controller.

Key words： automatic parking semi-trailer truck path planning motion control

收稿日期: 2022-02-28 出版日期: 2023-05-06

ZTFLH:

U471.15

通讯作者: 彭加耕,pengjiageng@sohu.com E-mail: pengjiageng@sohu.com

作者简介: 贾生超(1997-)，男，硕士生。研究领域为自动驾驶路径规划与运动控制。
彭加耕(1964-)，男，博士，副教授。研究领域为汽车CAD/CAE/CAM。
黄伟(1993-)，男，硕士生。研究领域为计算机视觉。

引用本文:

贾生超, 彭加耕, 黄伟, 黄钦明. 牵引挂车垂直泊车路径规划与运动控制[J]. 信息与控制, 2023, 52(2): 190-201,210.
JIA Shengchao, PENG Jiageng, HUANG Wei, HUANG Qinming. Perpendicular Parking Path Planning and Motion Control of Semi-trailer Truck. Information and control, 2023, 52(2): 190-201,210.

链接本文:

https://xk.sia.cn/CN/10.13976/j.cnki.xk.2023.2088 或 https://xk.sia.cn/CN/Y2023/V52/I2/190

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