车辆平行泊车系统路径规划与控制研究

Research on Path Planning and Control of Parallel Parking System

从路径规划和曲率优化两个方面建立平行泊车路径体系,提出了避障约束和曲率约束2种指标,以阿克曼转向为基础建立数学模型,通过避障约束分析得到车辆轨迹的相关参数,并且用五次多项式对路径曲率进行了优化,结果表明车辆可以安全平稳进入泊车位内。

The parallel parking path system was established from two aspects of path planning and curvature optimization. Two indexes of obstacle avoidance and curvature constraint were proposed. The mathematical model was established based on Ackerman steering. The relevant parameters of vehicle trajectory were obtained through obstacle avoidance constraint analysis, and the path curvature was optimized by quintic polynomial. The results show that the vehicle can enter the parking space safely and smoothly inside.