重庆理工大学学报（自然科学版）2017，Vol.31Issue(9)：36-44,9.DOI:10.3969/j.issn.1674-8425(z).2017.09.006
基于双匀速轨迹的自动泊车路径规划研究
Trajectory Planning Method Based on Double Constant Speed for Automatic Parking Systems
摘要
Abstract
In order to solve the problem of shutting down to steer the wheel in parking process because of the discontinuity of path curvature,this paper proposed a path planning algorithm based on vehicle speed and steering wheel angular velocity.The characteristics of vehicle trajectory are analyzed when the vehicle speed and steering wheel speed are constant,that is,the characteristics of the "double constant velocity" trajectory.It combines the double circular trajectory with the double constant speed trajectory by introducing the concept of " transition radius" and "tangency radius",makes path planning algorithm and collision-free algorithm more convenient.The parameters of the parking path and the feasible parking area can be calculated by the vehicle speed,the steering wheel angular speed and the body geometry.The reversing driver model was built on preview theory.The double constant speed trajectory was verified in Carsim by reversing driver model.Simulation results show good performance in the verification of double constant speed trajectory under non-uniform vehicle speed case.It is proved that the approach proposed can find a collision-free path and meet the key point of continuous trajectory curvature,so the problem of shutting down to steer the wheel in parking process is avoided.关键词
汽车工程/双匀速泊车路径/避障/路径规划/自动泊车Key words
automotive engineering/double constant speed trajectory/collision-free/path planning/automatic parking分类
交通工程引用本文复制引用
李攀,黄江,杨浩,韩中海..基于双匀速轨迹的自动泊车路径规划研究[J].重庆理工大学学报（自然科学版）,2017,31(9):36-44,9.基金项目
国家自然科学基金资助项目(51105136) （51105136）
