天津大学学报（英文版）
天津大學學報（英文版）
천진대학학보（영문판）
TRANSACTIONS OF TIANJIN UNIVERSITY
2015年
3期
199-208
,共10页
季学武%王健%赵又群%刘亚辉%臧利国%李波
季學武%王健%趙又群%劉亞輝%臧利國%李波
계학무%왕건%조우군%류아휘%장리국%리파
parallel parking%path tracking%path planning%BP neural network%curve fitting
In order to diminish the impacts of external disturbance such as parking speed fluctuation and model un-certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based on pre-view back propagation (BP) neural network PID controller. The forward BP neural network can adjust the parameters of PID controller in real time. The preview time is optimized by considering path curvature, change in curvature and road boundaries. A fuzzy controller considering barriers and different road conditions is built to select the starting po-sition. In addition, a kind of path planning technology satisfying the requirement of obstacle avoidance is introduced. In order to solve the problem of discontinuous curvature, cubic B spline curve is used for curve fitting. The simulation results and real vehicle tests validate the effectiveness of the proposed path planning and tracking methods.
