Vertical Parking Control and Optimization Method Based on MPC

Aiming at the problem of slow convergence and long trajectory planning time in the automatic parking process, an automatic parking control method based on model predictive control is proposed. Firstly, facing the vertical parking scenario, the vehicle kinematic model is established by considering the actual constraints. Secondly, the sequential quadratic programming (SQP) algorithm combined with the particle swarm optimization (PSO) algorithm generates the parking reference path. Then, the optimal control sequence is solved based on the model predictive control (MPC) method and applied to this vehicle model. Finally, the joint simulation of MATLAB/Simulink, PreScan, and CarSim verifies the algorithm’s effectiveness. The simulation results show that under the control tracking of the model controller, the vehicle can complete parking according to the expected trajectory, verifying the effectiveness of the control method.