基于RRT算法的远距离自动泊车路径规划及仿真

Path Planning and Simulation of Longdistance Automatic Parking Based on RRT Algorithm

泊车路径规划是自动泊车技术的重要组成部分。本文分析了现有的泊车路径规划方法,针对远距离自动泊车,提出基于BRT算法的路径规划。根据实际泊车操作过程,将自动泊车划分为远距离靠近泊位和泊入泊位两个阶段,采用基于反向RRT算法分别设计满足车辆运动模型和避障要求的路径规划算法,并在平行泊车、垂直泊车、反向斜方位泊车、正向斜方位泊车和角落平行泊车场景下进行仿真实验。

Parking path planning is an important part of automatic parking technology.This article analyzes the existing parking path planning methods,and proposes path planning based on BRT algorithm for long-distance automatic parking.According to the actual operation,the process of automatic parking was divided into two stages,that is,approaching the parking slot from a long distance and driving into the parking slot.Path planning algorithm that meets the requirements of vehicle motion model and obstacle avoidance was designed based on the reverse RRT algorithm.And simulation experiments were performed in the scenarios of parallel parking,vertical parking,oblique parking(reverse),oblique parking(forward)and parallel parking in the corner.