多约束平行泊车路径规划

Multi-route Planning for Parallel Parking System with Multi-constraints

针对不能满足平行泊车要求的狭小车位,提出了单向多次和双向多次路径规划方法。在确定了两种泊车轨迹的变量、碰撞约束函数以及规划目标后,利用matlab软件的非线性约束函数的优化功能求解泊车轨迹方程,并对两种路径规划方法进行仿真试验,结果表明,在相同的泊车环境下,两种路径规划方法都可实现安全顺利的泊车入位;通过实车试验进一步验证了所提出的路径规划方法的安全性和有效性。

For the narrow parking space which can not satisfy the requirement of parallel parking, we present two route planning methods： one-way multiple-route planning method and twu-way multiple-route planning method. When variables, collision constraint function and planning objective of two parking trajectories are defined, we make use of optimization function of the nonlinear constraint function in MATAB tu solve the parking trajectory equation, and these two route planning methods are simulated and tested, which show that , in the same parking environment, both of two route planning methods can make the ear park safely with smaller parking length; safety and validity of the presented route planning methods are verified with vehicle test.