农业装备与车辆工程2026，Vol.64Issue(7)：67-70,77,5.DOI:10.3969/j.issn.1673-3142.2026.07.010
基于五次多项式的4WS平行泊车路径规划
4WS parallel parking path planning based on fifth-degree polynomials
摘要
Abstract
For narrow parallel parking,a path planning method based on a quintic polynomial for four-wheel steering(4WS)was proposed.A low-speed kinematic model was established,and the safe initial feasible region was defined(with a longitudinal lower limit of 1.65 m and an upper limit of 2.67 m).Simulation results showed that the trajectory curvature was continuous and obstacle avoidance was effective;however,when starting from extremely short distances,meeting the pose constraints caused the peak curvature to exceed the vehicle's allowable limit(0.316 3 m-1).Therefore,parking space planning must be deeply coupled with kinematic limits.关键词
四轮转向/平行泊车/五次多项式/路径规划Key words
four-wheel steering/parallel parking/fifth-order polynomial/path planning分类
交通工程引用本文复制引用
陈应鹏,刘鸿梁..基于五次多项式的4WS平行泊车路径规划[J].农业装备与车辆工程,2026,64(7):67-70,77,5.基金项目
重庆市教委科学技术研究计划项目"车齿工艺动态切削载荷及刀具非均匀磨损机理研究"(KJQN202403236) （KJQN202403236）
