基于Gauss伪谱法的泊车轨迹规划方法

Planning of Parking Trajectory Based on Gauss Pseudospectral Method

为了应对不同类型泊车,提高车载泊车系统的适应性,采取基于数值求解最优控制问题的方法进行泊车轨迹优化。使用基于Gauss伪谱法的最优控制算法进行泊车轨迹规划并进行仿真试验,实验结果表明,该方法可以很好地解决垂直泊车与平行泊车问题,适应性强。

In order to deal with different types of parking, to improve the adaptability of parking system, used the method of numerical solution of optimal control problem to solve the parking trajectory. Used the Gauss pseudospectral based algorithm to solve the parking problem and do the simulation,the result shows that this method can solve the problem of both vertical parking and parallel parking.