Research On Trajectory Planning And Simulation Of Commercial Vehicle Automatic Parking System

Automatic parking system refers to the system that automatically enters the parking position without any manual intervention.It is an integral part of automatic driving technology.The application of automatic parking system can greatly reduce the occurrence of traffic accidents and help drive safety.The driving areas of some commercial vehicles are in fixed scenes and easy to plan,so it is convenient to realize automatic parking.In this paper,takes commercial vehicles as the research object,based on the parking environment of commercial vehicles,and designed the trajectory planning and trajectory tracking methods of its automatic parking system.First of all,the automatic parking system needs a reasonable trajectory planning method.This paper analyzes the motion process of commercial vehicle,establishes its kinematic model,and considers the factors affecting the single-step vertical parking of commercial vehicle: parking space size condition,obstacle avoidance constraints,parking constraints,vehicle parameter constraints,etc.On this basis,the B-spline curve method is used to plan the trajectory of a single-step vertical parking scene of a commercial vehicle,nd its effectiveness for different parking scenes is verified.Secondly,a non-time-referenced trajectory tracking control method is designed to reduce the influence of vehicle speed on trajectory tracking control.The trajectory tracking controller designed based on fuzzy control,sliding-film control,and approaching terminal sliding-film control.Through the comparison of the control effect,it is concluded that the trajectory tracking controller based on the terminal sliding-film control has the best control effect.Finally,based on the TruckSim software,a dynamic model of a commercial vehicle was built,and then the trajectory planning model and trajectory tracking controller model were built by Matlab/Simulink.The co-simulation based on Matlab/Simulink and TruckSim was carried out.The rationality of trajectory planning algorithm is verified and the tracking effect of trajectory tracking controller is also verified after co-simulation tests of the vertical parking of commercial vehicles under different working conditions,...