دوره 13، شماره 1 - ( 12-1401 )
جلد 13 شماره 1 صفحات 4076-4062 |
برگشت به فهرست نسخه ها
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Yar-Ahmadi M, Rahmanei H, Ghaffari A. Path Planning and Optimal Control for Autonomous Exit Parking. ASE 2023; 13 (1) :4062-4076
URL: http://www.iust.ac.ir/ijae/article-1-624-fa.html
URL: http://www.iust.ac.ir/ijae/article-1-624-fa.html
Path Planning and Optimal Control for Autonomous Exit Parking. Automotive Science and Engineering. 1401; 13 (1) :4062-4076
چکیده: (4273 مشاهده)
The primary purpose of each autonomous exit parking system is to facilitate the process of exiting the vehicle, emphasizing the comfort and safety of driving in the absence of almost any human effort. In this paper, the problem of exit parking for autonomous vehicles is addressed. A nonlinear kinematic model is presented based on the geometric relationship of the vehicle velocities, and a linear time-varying discrete-time model of the vehicle is obtained for utilizing the optimal control strategy. The proposed path planning algorithm is based on the minimization of a geometric cost function. This algorithm works for ample space exit parking in Single-Maneuver and tight spaces in Multi-Maneuver exit parking. Finally, an optimal discrete-time linear quadratic control approach is hired to minimize a quadratic cost function. To evaluate the performance of the proposed algorithm, the control system is simulated by MATLAB/Simulink software. The results show that the optimal control strategy is well able to design and follow the desired path in each of the exit parking maneuvers.
نوع مطالعه: پژوهشي |
موضوع مقاله:
خودروهای خودران
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