基于超声波传感器的平行车位自动泊车轨迹规划

Automatic Parking Trajectory Planning for Parallel Parking Spaces Based on Ultrasonic Sensors

基于超声波传感器全自动泊车系统,针对平行车位轨迹规划问题,建立车辆运动学模型进行分析,以逆向行驶的方法对泊车轨迹进行初步规划,通过对泊车轨迹进行约束分析,确定两段圆弧的圆心、半径、切点坐标和泊车起始点坐标范围,并用五次多项式对泊车轨迹进行平滑处理,避免转向突变。在MATLAB中对轨迹规划方案进行仿真实验。选取不同的起始点坐标进行轨迹规划仿真。仿真结果表明,采用此轨迹规划方案,可实现平行车位自动泊车,且泊车起始点在一个区间范围内,车辆起始点坐标选择范围广,实用性更强。

Based on the automatic parking system of ultrasonic sensors,for the problem of parallel parking space trajectory planning,firstly,the vehicle kinematics model is established for analysis,and the parking trajectory is preliminarily planned by the reverse driving method.Through the constraint analysis of the parking trajectory,the center,radius,tangent point coordinates of the two arcs,and the parking start point coordinate range are determined.And the fifth-order polynomial is used to smooth the parking trajectory,and to avoid steering sudden changes.Finally,the trajectory planning is simulated in MATLAB,and different starting point coordinates for trajectory planning simulation are selected.The simulation results show that this trajectory planning scheme can realize automatic parking in parallel parking spaces.With the starting point of the parking within a range,the vehicle starting point has a wide selection of coordinates,which is more practical.