智能驾驶汽车自动泊车轨迹规划仿真分析

Simulation Analysis of Automatic Parking Trajectory Planning for Intelligent Driving Vehicles

针对智能驾驶辅助系统自动泊车过程路径复杂的问题,依据阿克曼转向理论,建立汽车运动模型,分析泊车约束条件,搭建平行泊车和垂直泊车场景模型,继而进行轨迹的规划,并利用Carism车辆动力学仿真软件联合Simulink进行仿真分析,仿真结果表明,本文设计的泊车路径适合泊车工况,跟踪误差较小。

Aiming at the complicated path of automatic parking in intelligent driver assistance system,a vehicle motion model is established based on Ackermann steering theory,analyzes parking constraints,builds parallel and vertical parking scene models,and then makes trajectory planning.Carism vehicle dynamics simulation software and Simulink are used for simulation analysis.The simulation results show that The parking path designed in this paper is suitable for parking conditions and the tracking error is small.