基于入位基准线的避死区自动泊车路径规划

Automatic Parking Path Planning for Dead Zone Avoidance Based on Entry Baselines

为避免自动泊车过程中出现泊车死区,提出一种在车位外部汽车自动向前行驶至前进水平线的轨迹计算方法;为了减小泊车所需的车位长度,研究了由前进水平线倒车泊入车位,并保证该泊车轨迹经过入位基准线的方法。通过确定出的几个必须经过的定点坐标,利用插值样条理论与几何数学,确定出汽车在车位外部的泊车路径及其函数,且该函数具有唯一性,因此减少了自动泊车过程中系统不断进行反馈与纠正的计算过程。通过实验车的模拟验证,证明了路径规划的正确性。利用CarSim软件进行泊车过程的运动仿真,并对绘制出的轨迹线进行分析,结果表明该方法能控制汽车自动前进至非泊车死区位置,并可以减少对泊车所需车位长度的要求。

In order to avoid the existence of the parking dead zones,a trajectory calculation algorithm of the automatic advance to the forward horizontal line was put forward.To reduce the required length of parking spaces,the method of reversing the entry baselines from the forward line was studied.By means of interpolation spline theory and geometric mathematics,the external parking path and function of the car were determined by several fixed points that must be passed,and the function was unique.Therefore,the feedback processes and correction of the systems in automatic parking were reduced.Through the simulation and verification of the experimental vehicles,the correctness of the route planninges was proved.The movement simulation of the parking process was carried out by CarSim software,and the trajectory line was analysed.The results show that the method may effectively avoid the parking dead zones and reduce the demands for parking length.