摘要
为解决车辆泊车过程中发生碰撞预警,导致车辆无路径可跟踪的问题,为提高泊车成功率,提出一种全自动泊车路径规划方法,包括一次路径规划和二次路径规划。在对不同泊车状态进行约束分析的基础上,以路径曲率最小为优化目标,建立路径优化函数。利用Matlab非线性约束优化函数求得一次、二次路径轨迹函数参数。车辆在一次泊车发生碰撞预警的情况下进入二次路径规划模块。仿真结果表明:一次路径规划方法能满足车辆轨迹连续且无碰撞泊入车位;如若出现预警碰撞,二次路径规划方法能保证连续、安全泊入车位,为安全泊车提供了二次保障。
In order to solve the problem that the vehicle has no path tracking because of collision warning during the process of parking and increases parking success rate,a new method was put forward for fully-automatic parallel parking system,including first path planning and second path planning.Based on constraint analysis of parking in different states,minimum path curvature was taked as optimization goal and establishes path optimization function,and then got the function parameters of first and second path planning through the using of Matlab non-linearity constraint optimization function.The vehicle will start second path planing mode if a collision warning happens.The simulation result indicates that：first path planning method can help the vehicle park into the parking place in a continuous path without collision;if collision warning happens,second path planning method can guarantee a continuous and secure parking,which provides two times protection for secure parking.
出处
《科学技术与工程》
北大核心
2017年第7期263-269,共7页
Science Technology and Engineering
基金
国家重点研发计划重点专项(2016YFD0701101)资助
关键词
全自动泊车
一次路径规划
二次路径规划
约束分析
优化函数
fully-automatic parallel parking system
first path planning
second path planning
constraint analysis
optimization function
