Research on automatic parking system based on linear quadratic regulator. Issue 3 (17th September 2021)

• Record Type: Journal Article
• Authors: Qian, Yan; Wang, Zhaoqiang; Liang, Wei; Lu, Chenhui
• Is Part Of: Engineering computations. Volume 39:Issue 3(2022)
• Page Start: 1161
• Page End: 1179
• Publication Date: 2021-09-17
• Subjects: Automatic parking -- Bezier curve -- Linear quadratic regulator -- Path tracking; Computer-aided engineering -- Periodicals; Computer graphics -- Periodicals; 620.00285
• DOI: 10.1108/EC-02-2021-0115
• Languages: English
• ISSNs: 0264-4401

Abstract

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.