Journal of South China University of Technology (Natural Science Edition) ›› 2014, Vol. 42 ›› Issue (11): 70-77.doi: 10.3969/j.issn.1000-565X.2014.11.011

• Automotive Engineering • Previous Articles     Next Articles

Path Tracking for Parallel Parking Based on Linear Extended State Observer

Wang Jian1 Zhao You- qun1 Ji Xue- wu2 Liu Ya- hui2 Zang Li- guo1   

  1. 1.College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,Jiangsu,China; 2.State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China
  • Received:2014-03-21 Revised:2014-09-17 Online:2014-11-25 Published:2014-11-17
  • Contact: 赵又群(1968-)，男，博士，教授，博士生导师，主要从事汽车动力学研究． E-mail:yqzhao@nuaa.edu.cn
  • About author:王健(1986-)，男，博士生，主要从事智能驾驶、主动安全研究．E-mail:wangjian1987228@163．com
  • Supported by:

    国家自然科学基金资助项目(11072106， 51005133， 51375009)

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Abstract:

In order to eliminate the external disturbance and remove the influence of the uncertainty of the steering system kinematics model,a vehicle kinematics model of parallel parking system is constructed and a third- order li- near extended state observer is designed.The observer takes the external disturbance and the model uncertainty for a total disturbance to observe and compensate without building the accurate mathematical model of controlled ob- jects.Based on this observer,a path- tracking controller is established for parallel parking and its control perfor- mance is verified by a simulation and a real vehicle test.Simulation results show that the proposed path- tracking controller shows a better performance and a stronger ability to resist the external disturbance in comparison with those of the traditional PID controller.The real vehicle test results show that the proposed path- tracking controller can control vehicles to finish parallel parking tasks precisely with a maximum error of only 0.111m.

Key words: path tracking, linear extended state observer, parallel parking, compensation control, disturbance rejection