Optimal tracking control method, system and equipment for automatic parking and medium

• Main Authors: YAN HANXUEYU, HOU XIAONA, LIU XIAOJING, WANG SHUNZENG, PAN FEI
• Format: Patent
• Language: Chinese; English
• Published: 15.07.2022
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The invention provides an optimal tracking control method, system, equipment and medium for automatic parking, and the method comprises the steps: discretizing a given reference trajectory into a series of fixed terminal states based on a cell mapping optimal trajectory planning method of a fixed terminal in a discrete state space, and carrying out the searching and solving of the series of fixed terminal states, so as to obtain a corresponding optimal tracking control discrete table; each discretized fixed terminal state corresponds to one optimal tracking control discrete table, and the vehicle can perform tracking control in the automatic parking optimal tracking control discrete table according to the optimal tracking control discrete table of a series of fixed terminal states discretized according to a given reference trajectory. According to the invention, the tracking control of the given trajectory by automatic parking can be realized, and the real-time performance and accuracy of the tracking control