Research on automatic parking system based on linear quadratic regulator
ISSN: 0264-4401
Article publication date: 17 September 2021
Issue publication date: 4 March 2022
Abstract
Purpose
The purpose of this study is to solve the problem of path planning and path tracking in the automatic parking assistant system.
Design/methodology/approach
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.
Findings
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.
Originality/value
According to the principle of the discrete LQR, a tracking controller that combines feedforward control and feedback control is designed.
Keywords
Acknowledgements
This study was funded by projects Nos. 51505272, 51505274.
Citation
Qian, Y., Wang, Z., Liang, W. and Lu, C. (2022), "Research on automatic parking system based on linear quadratic regulator", Engineering Computations, Vol. 39 No. 3, pp. 1161-1179. https://doi.org/10.1108/EC-02-2021-0115
Publisher
:Emerald Publishing Limited
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