关键词: 全自动泊车；路径跟踪；速度规划；直线圆弧路径

Abstract: In order to realize safely and stably control the vehicle driving along the given straight and arc path in the process of automatic parking, combined with the classical proportion integration differentiation (PID) idea, a new control method is proposed, which reach the target steering wheel angle according to the advance steering distance and target angular speed, and then based on the current vehicle rear axle center position and heading information and the deviation between the target path point correction control method in this paper. Meanwhile according to the characteristics of the planned path, this paper also proposes a speed planning method, which is based on the uniform deceleration. The experiment result shows that the method can control the parking smoothly, and the control error meets the accuracy requirements.

Key words: Automatic parking; Path tracking; Speed planning; Straight and arc path