Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

Hua, Yiding; Jiang, Haobin; Cai, Yingfeng; Zhang, Xupei; Ma, Shidian; Di, Wu

doi:10.1155/2017/6590383

Cited by 13 publications

(9 citation statements)

References 27 publications

(30 reference statements)

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“…It is noteworthy that the convergence time of (x e , y e , θ e ) in ten seconds. In Figures 14 and 15, the curvilinear trend is smooth, so that it can be implemented in reality [26].…”

Section: Resultsmentioning

confidence: 99%

Study on an Automatic Parking Method Based on the Sliding Mode Variable Structure and Fuzzy Logical Control

Xu¹,

Lu²,

Shan³

et al. 2018

Symmetry

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This paper discusses an automatic parking control method based on the combination of the sliding mode variable structure control (SMVSC) and fuzzy logical control. SMVSC is applied to drive the vehicle from a random initial position and pose, to the designated parking position and pose. Then, the vehicle is driven from the designated parking position to the target parking slot using the method of fuzzy logical control, whose rules are limited to the range of the effective initial position. To combine SMVSC with the fuzzy logical control, the experimental results demonstrate that effective parking can be guaranteed, even if the initial position is out of the effective parking area of the fuzzy logical control.

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“…It is noteworthy that the convergence time of (x e , y e , θ e ) in ten seconds. In Figures 14 and 15, the curvilinear trend is smooth, so that it can be implemented in reality [26].…”

Section: Resultsmentioning

confidence: 99%

Study on an Automatic Parking Method Based on the Sliding Mode Variable Structure and Fuzzy Logical Control

Xu¹,

Lu²,

Shan³

et al. 2018

Symmetry

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“…Automatic parking technology refers to the parking process that completes the parking operations safely and quickly without a driver and can effectively improve driving comfort while greatly reducing the probability of accidents during parking. Also, the promotion of automatic parking technology can promote the development and deployment of autonomous driving and intelligent vehicles [4][5][6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

Jiang

et al. 2020

Applied Sciences

Self Cite

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As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.

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“…The motion planning of a car-like robot can be interpreted as a problem of finding a feasible path that connects the initial and the goal configurations while satisfying the nonholonomic constraints. Additional constraints are imposed due to obstacles [6], [7]. Non-holonomic and obstacle constraints are hard to consider simultaneously because conventional methods for the path planning of a car-like robot are not designed for dealing with obstacle regions [8].…”

Section: Introductionmentioning

confidence: 99%

Strategy for automated dense parking: how to navigate in narrow lanes

Polack¹,

Dallen²,

Cord³

2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents the architecture of a highdensity parking solution based on car-like robots specifically designed to move cars. The main difficulty is to park the vehicles close to one another which implies hard constraints on the robot motion and localization. In particular, this paper focuses on navigation in narrow lanes. We propose a Lyapunovbased control strategy that has been derived after expressing the problem in a Configuration Space formulation. The current solution has been implemented and tested on Stanley Robotics' robots and has been running in production for several months. Thanks to the Configuration Space formulation, we are able to guarantee the obstacles' integrity. Moreover, a method for calibrating the GPS orientation with a high-precision is derived from the present control strategy.

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Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

Cited by 13 publications

References 27 publications

Study on an Automatic Parking Method Based on the Sliding Mode Variable Structure and Fuzzy Logical Control

Study on an Automatic Parking Method Based on the Sliding Mode Variable Structure and Fuzzy Logical Control

Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

Strategy for automated dense parking: how to navigate in narrow lanes

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