面向自动充电的自主泊车精准调节策略*

doi:10.19562/j.chinasae.qcgc.2020.12.013

汽车工程 ›› 2020, Vol. 42 ›› Issue (12): 1701-1709.doi: 10.19562/j.chinasae.qcgc.2020.12.013

面向自动充电的自主泊车精准调节策略^*

王永胜^1,2, 罗禹贡², 古谚谌², 陈锐², 齐蕴龙², 江发潮¹

1.中国农业大学工学院,北京 100083;
2.清华大学,汽车安全与节能国家重点实验室, 北京 100084

收稿日期:2020-02-06 修回日期:2020-05-05 出版日期:2020-12-25 发布日期:2021-01-13
通讯作者: 江发潮,教授,博士,E-mail: jfachao@cau.edu.cn
基金资助:
*国家国际科技合作专项(2019YFE0100200)和国家自然科学基金(51975310)资助。

Precise Adjustment Strategy of Autonomous Parking for Automatic Charging

Wang Yongsheng^1,2, Luo Yugong², Gu Yanchen², Chen Rui², Qi Yunlong², Jiang Fachao¹

1. College of Engineering,China Agricultural University,Beijing 100083;
2. Tsinghua University, State Key Laboratory of Automotive Safety and Energy,Beijing 100084

Received:2020-02-06 Revised:2020-05-05 Online:2020-12-25 Published:2021-01-13

摘要/Abstract

摘要： 针对自主泊车系统与自动充电系统结合应用时,充电装置难以精准对接的问题,提出了一种自主泊车精准调节策略。该策略在“前进—倒车—停车”的运动调节框架下,结合前进运动时的航向角偏差控制、倒车运动时的横向位置偏差控制与精准停车控制,实现对对接位置偏差的精准调节。同时,提出了基于预瞄视角的两点匹配和基于预瞄前视点匹配的双向检索策略,改进了单点预瞄方法。实车试验结果表明:所提自主泊车精准调节策略降低了泊车停止位置的纵横向偏差,提高了自动充电装置的对接准确率与对接成功率。

关键词: 自主泊车, 自动充电, 精准调节, 单点预瞄

Abstract: Automatic charging devices are difficult to connect accurately when autonomous parking system is combined with automatic charging system. To solve this problem, a precise adjustment strategy of autonomous parking is proposed. Under the framework of “forward-backward-parking” motion adjustment, combining heading angle deviation control on forward motion, lateral position deviation control on backward motion, and accurate parking control, precise adjustment of connecting position deviations can be realized by this strategy. Simultaneously, two points matching method based on preview angle and the bidirectional retrieval strategy based on preview front viewpoint matching are proposed to improve the single-point preview method. The experimental results on a real vehicle show that the proposed precise adjustment strategy of autonomous parking can decrease the longitudinal and lateral deviations of the parking stop position, and improve connecting accuracy and connecting success rate of automatic charging devices.

Key words: autonomous parking, automatic charging, precise adjustment, single point preview

王永胜, 罗禹贡, 古谚谌, 陈锐, 齐蕴龙, 江发潮. 面向自动充电的自主泊车精准调节策略^*[J]. 汽车工程, 2020, 42(12): 1701-1709.

Wang Yongsheng, Luo Yugong, Gu Yanchen, Chen Rui, Qi Yunlong, Jiang Fachao. Precise Adjustment Strategy of Autonomous Parking for Automatic Charging[J]. Automotive Engineering, 2020, 42(12): 1701-1709.

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面向自动充电的自主泊车精准调节策略^*

Precise Adjustment Strategy of Autonomous Parking for Automatic Charging

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