【摘要】：由于路邊泊車不規(guī)范，導(dǎo)致的交通擁堵、車輛刮擦等問(wèn)題已成為交通管理的一大難題。為此，自動(dòng)泊車、輔助泊車已經(jīng)成為車輛主動(dòng)安全技術(shù)的研發(fā)重點(diǎn)。依據(jù)停車位空間的大小，路邊平行泊車的方法可以分為前進(jìn)式和后退式兩種方式。 本文針對(duì)前進(jìn)式平行泊車，在考慮泊車空間需求的前提下，，提出了基于B樣條的軌跡規(guī)劃和基于多段圓弧的軌跡規(guī)劃的建模方法；針對(duì)后退式平行泊車，在物理限制和非完整約束前提下，提出了能夠適應(yīng)環(huán)境動(dòng)態(tài)變化的快速軌跡優(yōu)化方法以及兼顧模型誤差和擾動(dòng)的反饋控制器。 本研究是省基金資助項(xiàng)目“基于交通態(tài)勢(shì)評(píng)估的道路安全推理研究”子課題的研究成果，即，針對(duì)平行泊車而開展的專項(xiàng)研究，該項(xiàng)研究成果的主要貢獻(xiàn)如下所述。 前進(jìn)式平行泊車： （1）在泊車空間相對(duì)充裕的條件下，根據(jù)Ackermann轉(zhuǎn)向幾何建立了車輛簡(jiǎn)化的泊車運(yùn)動(dòng)學(xué)模型，并分析車輛停泊時(shí)的多約束問(wèn)題，綜合考慮泊車軌跡的設(shè)計(jì)要求以及B樣條曲線的特點(diǎn)，提出了基于B樣條曲線理論的軌跡生成方法，以軌跡曲率最小化為目標(biāo)，對(duì)前進(jìn)式平行泊車進(jìn)行一步泊車入位的軌跡規(guī)劃。 （2）在泊車空間相對(duì)狹小的條件下，提出了多步進(jìn)退式的泊車方法。采用多段相切圓弧的方法分割泊車軌跡曲線，考慮泊車運(yùn)動(dòng)中可能發(fā)生的多種碰撞，建立相應(yīng)的約束函數(shù)，分別以泊車位和曲線曲率最小為優(yōu)化目標(biāo)，求解出泊車軌跡的相關(guān)參數(shù)。 后退式平行泊車： （3）提出了新的軌跡生成方法，該方法由快速幾何路徑規(guī)劃和路徑跟蹤優(yōu)化求解兩部分組成。其中，幾何路徑規(guī)劃由求解一組靜態(tài)優(yōu)化問(wèn)題來(lái)完成，而障礙物由基于閔可夫斯基的不等式約束來(lái)描述；路徑跟蹤采用了系統(tǒng)理論中flatness屬性建立車輛系統(tǒng)動(dòng)態(tài)，并以線性二階差分方程的形式表示。 （4）提出了一個(gè)軌跡追蹤反饋控制器，為此將誤差系統(tǒng)轉(zhuǎn)換成鏈?zhǔn)较到y(tǒng)，采用積分逆推方法計(jì)算控制輸入，并利用Barbalat引理證明了這個(gè)閉環(huán)系統(tǒng)的穩(wěn)定性。
[Abstract]:Traffic jams and scratches have become a major problem in traffic management due to irregular on-street parking. Therefore, automatic parking and auxiliary parking have become the focus of vehicle active safety technology research and development. According to the size of parking space, the method of parallel parking can be divided into two types: forward and backward. In this paper, a method of trajectory planning based on B-spline and trajectory planning based on multi-segment arc is proposed, considering the demand of parking space. For backward parallel parking, a fast trajectory optimization method and a feedback controller which can adapt to the dynamic changes of the environment and take into account the model errors and disturbances are proposed under the premise of physical constraints and nonholonomic constraints. This research is the research result of the project "Road Safety reasoning based on Traffic situation Assessment", which is a special research on parallel parking. The main contributions of this research are as follows. Forward parallel parking: (1) under the condition of relatively abundant parking space, a simplified parking kinematics model is established according to the Ackermann steering geometry, and the multi-constraint problem is analyzed. Considering the design requirements of parking trajectory and the characteristics of B-spline curve, a trajectory generation method based on B-spline curve theory is proposed. The aim of this method is to minimize the curvature of the trajectory. A one-step parking trajectory planning for forward parallel parking. (2) under the condition of relatively small parking space, a multi-step, forward and backward parking method is proposed. The method of multi-segment tangent arc is used to divide the parking track curve, considering the possible collision in parking movement, the corresponding constraint function is established, and the minimum parking space and curve curvature are respectively taken as the optimization objective. The parameters of the parking track are calculated. Backward parallel parking: (3) A new trajectory generation method is proposed, which consists of two parts: fast geometric path planning and path tracking optimization. Geometric path planning is accomplished by solving a set of static optimization problems, while obstacles are described by inequality constraints based on Minkowski. The flatness attribute in the system theory is used to establish the vehicle system dynamics, which is expressed as the linear second-order difference equation. (4) A trajectory tracking feedback controller is proposed. For this reason, the error system is converted into a chain system, and the control input is calculated by the integral inverse method. The stability of the closed-loop system is proved by using Barbalat Lemma.
【學(xué)位授予單位】：山東理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：U491.7

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