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Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2015> 24(2): 213-221
WANG Jian, ZHAO You-qun, JI Xue-wu, LIU Ya-hui, ZANG Li-guo. Path tracking for vehicle parallel parking based on ADRC controller[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2015, 24(2): 213-221. doi: 10.15918/j.jbit1004-0579.201524.0212
Citation: WANG Jian, ZHAO You-qun, JI Xue-wu, LIU Ya-hui, ZANG Li-guo. Path tracking for vehicle parallel parking based on ADRC controller[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2015, 24(2): 213-221.doi:10.15918/j.jbit1004-0579.201524.0212
shu

Path tracking for vehicle parallel parking based on ADRC controller

doi:10.15918/j.jbit1004-0579.201524.0212
  • 1.

    College of Energy & Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

  • 2.

    State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China

  • Received Date:2014-05-08
    Abstract
  • A novel path tracking controller for parallel parking based on active disturbance rejection control (ADRC) was presented in this paper. A second order ADRC controller was used to solve the path tracking robustness, which can estimate and compensate model uncertainty caused by steering kinematics and disturbances caused by parking speed and steering system delay. Collision-free path planning technology was adopted to generate the reference path. The simulation results validate that the performance of the proposed path tracking controller is better than the conventional PID controller. The actual vehicle tests show that the proposed path tracking controller is effective and robust to model uncertainty and disturbances.
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    • References (16)
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