重庆理工大学学报2026，Vol.40Issue(7)：40-48,9.DOI:10.3969/j.issn.1674-8425(z).2026.04.005
基于分段多项式曲线的自动泊车系统速度规划
Velocity planning for automated parking systems based on piecewise polynomial curves
摘要
Abstract
To address the comprehensive requirements of automatic parking systems for comfort,high-precision control,and scenario adaptability in complex low-speed environments,this paper proposes a longitudinal speed planning algorithm based on segmented quintic polynomial curves.A three-phase planning framework,comprising"maximum speed cruising,target speed cruising,and braking-to-stop"is built,with candidate quintic polynomial curve sets generated for each phase.An adaptive rapid optimization strategy prioritizing jerk limitation as the primary constraints is designed.Real-world vehicle experiments are conducted across three typical scenarios:flat roads,speed bumps,and slopes.Results demonstrate the algorithm consistently constrains jerk magnitude within±0.5 m/s3 and achieves a distance control accuracy of less than 5 cm under comfortable braking conditions.It markedly outperforms conventional single-segment planning algorithms,providing a highly comfortable,precise,and easily deployable solution for automatic parking systems.关键词
自动泊车/速度规划/分段五次多项式/自适应候选最优策略/实车试验Key words
automatic parking/velocity planning/piecewise quintic polynomial/adaptive candidate optimal strategy/real vehicle tests分类
交通工程引用本文复制引用
杨友胜,胡旸煜,邵东..基于分段多项式曲线的自动泊车系统速度规划[J].重庆理工大学学报,2026,40(7):40-48,9.基金项目
国家自然科学基金项目(52172370) （52172370）
山东省自然科学基金项目(ZR2018MEE023) （ZR2018MEE023）
山东省重点研发计划项目(2017GGX30106) （2017GGX30106）
