Abstract: In order to reduce the error of path tracking, a proportional integral derivative (PID) controller based on preview error is designed. Firstly, a global path with continuous curvature in vertical parking scenarios is generated by splicing line-arc-cyclotron curves. Secondly, the calculation method of preview point, reference point and preview error is designed, and the preview error is used as the input of PID to design the path tracking controller. Finally, the preview PID algorithm is verified by Simulink/CarSim co-simulation. The simulation and test results show that the path tracking algorithm based on preview PID proposed in this paper is simple in principle, but has high tracking accuracy, which can meet the requirements of automatic parking.

Key words: Automatic parking; Vertical parking; Path tracking; Preview error; PID; Simulink/CarSim

摘要： 为减少路径跟踪的误差，文章设计了基于预瞄误差的比例-积分-微分（PID）控制器。 首先，采用直线-圆弧-回旋曲线拼接的方法生成了垂直泊车场景下曲率连续的全局路径。其次， 设计了预瞄点、参考点及预瞄误差的计算方法，并将预瞄误差作为 PID 的输入以设计路径跟 踪控制器。最后，通过 Simulink/CarSim 联合仿真对预瞄 PID 算法进行了验证，仿真及试验的 结果表明，文章所提出的基于预瞄 PID 的路径跟踪算法虽然原理简单，但是跟踪精度较高， 可以满足自动泊车的需求。

关键词: 基于预瞄 PID 的自动泊车路径跟踪分析