计算机与数字工程2019，Vol.47Issue(12)：3035-3040,6.DOI:10. 3969/j. issn. 1672-9722. 2019. 12. 019
基于两段圆弧的倒推式平行泊车路径规划方法
Inverted Parallel Parking Path Planning Method Based on the Two-arc
张持 1张永林1
作者信息
- 1. 江苏科技大学电子信息学院 镇江 212003
- 折叠
摘要
Abstract
This article studies the problem of path planning in automatic parking system. In order to realize the path planning of different parking starting points,based on two circular arc inverted parallel parking path planning scheme is proposed,which has the advantages of continuous curvature and simple calculation. The working principle of the parking path planning scheme proposed in this paper is that in view of the two arcs that make up the parking path,the radius of the second arc of the parking path in the parking path is first determined by using the minimum turning radius of the vehicle when the parking constraint condition is satis?fied. And then the radius of the first segment of the arc is calculated by using the Bisection method to obtain two arc-shaped parking paths that are tangent to each other and have continuous curvature. Finally,a numerical simulation is used to verify the effectiveness and reliability of the proposed parking path planning scheme.关键词
自动泊车/路径规划/最小转弯半径/倒推式Key words
automatic-parking/path planning/the minimum turning radius/inverted分类
信息技术与安全科学引用本文复制引用
张持,张永林..基于两段圆弧的倒推式平行泊车路径规划方法[J].计算机与数字工程,2019,47(12):3035-3040,6.
