Path tracking control of automatic parking for intelligent vehicle based on nonsmooth control strategy
1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China； 2. Automotive Engineering Research Institute, Jiangsu University, Jiangsu University, Zhenjiang, Jiangsu 212013, China； 3. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China； 4. Zotye Automotive Engineering R & D, Hangzhou， Zhejiang 310000, China
Abstract：Abstract: The low path tracking precision of automatic parking in realtime control was caused by the nonlinear non holonomic constraint characteristics of vehicle, and the number of adjustments in garage was increased with bad vehicle pose. To solve the problems, a control strategy for automatic parking tracking was proposed based on nonsmooth control. The secondorder and the thirdorder limited time tracking equations of subsystem cascade system were deduced by the reducedorder conversion of dynamics tracking error model of vehicle. The path tracking controller with global asymptotic stability characteristics was designed based on the reducedorder equation, and the steering wheel angle of vehicle dynamics model and the vehicle speed were served as inputs to conduct simulation. The results show that compared to traditional approaches, the path tracking control method based on nonsmooth control can achieve global exact tracking reference parking path in limited time with strong antidisturbance and rapid convergence ability.
2017, Vol. 38 
