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Path tracking for vehicle parallel parking based on ADRC controller

Journal of Beijing Institute of Technology 2015年第2期24卷 213-221页

作者：王健赵又群季学武刘亚辉臧利国 College of Energy & Power Engineering Nanjing University of Aeronautics and Astronautics State Key Laboratory of Automotive Safety and Energy Tsinghua University

A novel path tracking controller for parallel parking based on active disturbance rejection control （ADRC） was presented in this paper. A second order ADRC controller was used to solve the path tracking robustness, which can estimate and compensate model uncertainty caused by steering kinematics and disturbances caused by parking speed and steering system delay. Collision-free path planning technology was adopted to generate the reference path. The simulation results validate that the performance of the proposed path tracking controller is better than the conventional PID controller. The actual vehicle tests show that the proposed path tracking controller is effective and robust to model uncertainty and disturbances.

关键词： parallel parking path tracking active disturbance rejection control active disturbance rejection control (ADRC) path planning

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Path Planning and Tracking for Vehicle parallel parking Based on Preview BP Neural Network PID Controller

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Transactions of Tianjin University 2015年第3期21卷 199-208页

作者：季学武王健赵又群刘亚辉臧利国李波 State Key Laboratory of Automotive Safety and Energy Tsinghua University College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics

In order to diminish the impacts of extemal disturbance such as parking speed fluctuation and model un- certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based on pre- view back propagation （BP） neural network PID controller. The forward BP neural network can adjust the parameters of PID controller in real time. The preview time is optimized by considering path curvature, change in curvature and road boundaries. A fuzzy controller considering barriers and different road conditions is built to select the starting po- sition. In addition, a kind of path planning technology satisfying the requirement of obstacle avoidance is introduced. In order to solve the problem of discontinuous curvature, cubic B spline curve is used for curve fitting. The simulation results and real vehicle tests validate the effectiveness of the proposed path planning and tracking methods.

关键词： parallel parking path tracking path planning BP neural network curve fitting

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Minimal parallel parking Process for Tractor and One-Axle Trailer

International Journal of Systems and Control

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International Journal of Systems and Control 2007年第1期 55-67页

作者： Elisabeth Balcerak Thorsten Weidenfeller Dieter Zbel Institut für Softwaretechnik Universitt Koblenz-Landau D-56070 Koblenz Fachbereich Informatik Universitt Koblenz-Landau D-56070 Koblenz

Unskilled drivers of articulated vehicles are often overextended e.g. in backward driving, due to the fact that these kind of vehicles are hard to control and the kinematic behavior is complex. So if such drivers want to park their attached caravan on a holiday trip for example, an integrated semi automated driving assistance system can be very helpful in such situations. This raises questions ranging from the theory of kinematics to the human-machine interaction for the realization of such a backup assistance. We focus this paper on the fundamental questions of the minimum maneuver for parallel parking. So we discuss these questions from its theoretical background to the practical integration into a respective assistance system.

关键词： parallel parking articulated vehicle one-axle trailer maneuver tractrix assistance system backward driving

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A Study of Autonomous parking for a 4-Wheel Driven Mobile Robot

A Study of Autonomous Parking for a 4-Wheel Driven Mobile Ro...

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第二十六届中国控制会议

作者： Kim Jin Wan Kim Young Bae Graduate School of Mechanical Engineering Department Chonnam National University Dept.of Mechanical Engineering Department Chonnam National University

This paper deals with the autonomous parallel parking problem of a car-like 4-wheel driven mobile *** parking problem corresponds to the point-stabilization problem of nonholonomic *** this paper,we propose an effi-cient algorithm for the problem with stability *** we show parking problem simulation which proves the effective-ness and stability of the *** the simulation,MFC is utilized with various parking *** this algorithm,a car-like mobile robot could be controlled to move to a desired posture within a prescribed *** developed system which integrated the control algorithm for parking tested with car-like mobile robot through simulations and experiments.

关键词： Autonomous parking parallel parking Nonholonomic system control MFC simulation

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