一种基于路径规划的自动平行泊车算法

Parallel parking algorithm based on autonomous path planning

针对城市中停车位狭小、现有自动泊车方法缺乏连贯性的问题,提出一种自动平行泊车算法。对现有的五阶多项式路径规划方法加以改进,并有针对性地设计罚函数,采用遗传算法计算最佳泊车路径和最小泊车空间,实现自动平行泊车。仿真结果表明,该算法能快速有效地完成泊车,车辆损伤小,对空间的要求最低。

In order to solve problems of narrow parking space in cities and lack of continuity of vehicle＇s motion in other parking approaches,this paper proposed an autonomous parking algorithm.It improved the approach of fifth-order polynomial,and designed penalty function and genetic algorithm to calculate the best path and the tightest parking space,finally realizing automatic parallel parking.The simulation result indicates that this method can park a car swiftly and efficiently with slight impact on vehicles and the least space requirement.