狭小车位内姿态调整的平行泊车算法研究

The study of parallel parking algorithms in narrow parking Spaces

立足于实际应用,分析了一种在狭小空间泊车环境内的往返式的车辆姿态调整方法。首先简单介绍了自动泊车的系统流程,然后分析了无需调整,一次泊车的最短泊车位长度,在狭小空间泊车环境内,通过减少第二段圆弧长度,让车辆采用往返式前进、后退以不断调整车辆的航向角,最终使车辆与车位平行,最后通过Matlab平台进行仿真,结果验证了此方法的可行性。

Based on the practical application,a round-trip attitude adjustment method for vehicles in a narrow space parking environment is analyzed.Firstly,the system flow of automatic parking is briefly introduced.Then,the minimum parking space length of one times parking is adjusted without adjustment.In the narrow space parking environment,the vehicle is reciprocated by reducing the length of the second arc.Backward to continuously adjust the heading angle of the vehicle,and finally make the vehicle parallel with the parking space.Finally,the simulation is carried out by Matlab platform.The results verify the feasibility of this method.