关键词: 自动泊车；轨迹跟踪；MPC 算法

Abstract: With the improvement of the living standards of Chinese people, the popularity of motor vehicles continues to increase, and with the increase in the number of vehicles, traffic congestion, frequent accidents and other problems are becoming more and more serious, for passenger car drivers with immature driving ability, it is more likely to cause traffic accidents due to improper parking, so automatic parking has become an urgent need to develop technology. The main research content of this paper is the control algorithm of automatic parking system trajectory tracking, which adopts the vertical parking environment, uses the model predictive control (MPC) algorithm for path tracking according to the feasible path that has been planned, and increases the control amount increment in the cost function to achieve the accuracy and stability of the trajectory tracking process. In order to verify the control effect, the Carsim-Simulink joint simulation platform is built, and the results show that the MPC control algorithm can achieve good trajectory tracking effect when parking.

Key words: Automatic parking; Trajectory tracking; MPC algorithm