摘要
路径规划是智能车辆导航的基本环节之一。根据车辆的运动学模型和实际的泊车过程提出了改进的最小半径和不等半径两种几何路径规划方法。经计算机仿真表明两种路径规划方法的适用范围均明显扩大,同时提出的两种方法的结合应用还能从整体上优化泊车过程。所提的方法对自主泊车的路径规划研究具有一定的参考价值。
Path planning is one of the fundamental aspects of intelligent vehicle navigation.Based on the kinematic model and the actual vehicle parking process,we proposed two improved geometric path planning methods of minimum radius and unequal radius.The computer simulation showed that the two path planning methods has expand significantly the scope of application,while the combination of the two methods of proposed can optimize the whole process of parking.The methods proposed in this paper has a certain reference value on the study of self-parking.
出处
《电子测量技术》
2011年第1期27-30,38,共5页
Electronic Measurement Technology
关键词
自主泊车
路径规划
约束空间
最小车位
self-parking
path planning
constraint space
minimue parking spaces
