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To address the issue of discontinuous curvature in autonomous parking path planning, this paper analyzes vehicle kinematics, and combines the arc-line-arc planning method with the reverse parking process. A fifth-degree polynomial optimization approach is employed to generate a compact parking trajectory with continuous curvature. To enhance parking tracking accuracy, the discrete LQR tracking controller based on the kinematic model is improved using fuzzy control methods. Simulations and experimental validations are conducted to verify the effectiveness of the algorithm. In the Simulink/CarSim co-simulation, the maximum tracking error is 0.027 m, and the average tracking error is 0.013 m. In real-vehicle experiments, the maximum tracking error is 0.07 m, and the average tracking error is 0.029 m. Compared to the LQR tracking controller, the FUZZY-LQR tracking controller reduces the average tracking error by 33%, improving the autonomous parking path tracking performance.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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