摘要
针对自动泊车路径规划曲率不连续、路径求解计算量较大的问题,论文首先结合逆向行驶方法和圆弧-直线-圆弧曲线组合方法,求解出绘制B样条曲线所需要的6个控制点,其次根据B样条理论得出一条满足避障要求的曲线。通过MATLAB的仿真结果可以看出,此方法得出的曲线不但满足避障要求和车身固有参数的约束,而且曲率连续车辆无需中途停车转向,同时可以通过改变控制点的位置来提高曲线的灵活度,使得车辆可以稳定、准确地完成泊车任务,提高了泊车效率。
In view of the discrete curvature of path planning and large calculation amount of path solution for automatic parking, this paper combines the reverse driving method and arc-line-arc method firstly, to solve the six control points needed to draw the B-spline curve. Secondly, according to the theory of B-spline, a curve that can meet the requirements of obstacle avoidance is obtained.From the simulation results of MATLAB, it can be seen that the curve obtained by this method not only meets the obstacle avoidance requirements and the constraints of the inherent parameters of the body, but also the vehicle with continuous curvature does not need to stop and turn in the middle, and the flexibility of the curve can be improved by changing the position of the control point, so that the vehicle can complete the parking task stably and accurately, and improve the parking efficiency.
作者
张艺欣
ZHANG Yixin(School of Automobile,Chang'an University,Xi’an 710064,China)
出处
《汽车实用技术》
2022年第19期130-134,共5页
Automobile Applied Technology
关键词
自动泊车
平行泊车
路径规划
B样条曲线
逆向行驶
Automatic parking
Parallel parking
Path planning
B-spline curve
Reverse driving
