计算机工程2017，Vol.43Issue(2)：33-37,5.DOI:10.3969/j.issn.1000-3428.2017.02.006
基于伪谱法的自主泊车路径规划方法
Autonomous Parking Path Planning Method Based on Pseudospectral Method
摘要
Abstract
Current related researches on parking methods are suitable for parallel parking scenario and vertical parking scenario.So,a general autonomous parking path planning scheme is proposed.The scheme takes the parking time as performance index,and formulates a time-optimal control problem of parking path planning with the vehicle kinematic constraint and path constraint.The pseudospectral method is used to solve the optimal control problem,and the obtained solution is guaranteed to be consistent with the path constraint by grid refining,so as to obtain the collision-free feasible parking path.Path planning in parallel parking scenario and vertical parking scenario are solved.Simulation experiment and real vehicle experiment verify the generality and feasibility of the scheme.关键词
自主泊车/路径规划/最优控制/伪谱法/通用性Key words
autonomous parking/path planning/optimal control/pseudospectral method/generality分类
信息技术与安全科学引用本文复制引用
叶林铨,祝辉,梅涛..基于伪谱法的自主泊车路径规划方法[J].计算机工程,2017,43(2):33-37,5.基金项目
国家自然科学基金(61304100,91320301). （61304100,91320301）
