The purpose of this study is to solve the problem of path planning and path tracking in the automatic parking assistant system.
This paper first uses the method of reverse driving to confirm few control points based on the constraints of the construction of the vehicle and the environment information, then a reference path with free-collision and continuous curvature is designed based on the Bézier curve. According to the principle of the discrete linear quadratic regulator (LQR), a tracking controller that combines feedforward control and feedback control is designed.
Finally, simulation analysis are carried out in Simulink and CARSIM. The results show that the proposed method can obtain a better path tracking effect when the parking space size is appropriate.
According to the principle of the discrete LQR, a tracking controller that combines feedforward control and feedback control is designed.
