【作者】 谢圣骥； 陈慧； 张继仁；

【Author】 Xie Shengji;Chen Hui;Zhang Jiren;School of Automotive Studies,Tongji University;New Energy Automotive Engineering Center,Tongji University;

【机构】 同济大学汽车学院； 同济大学新能源汽车工程中心；

【摘要】 为了实现任意起始位姿的平行泊车路径规划,满足碰撞和车辆运动学约束,并且路径曲率连续。基于扩展车辆运动学模型,将泊车问题数学描述为最优控制问题,将路径约束采用惩罚函数融入性能指标函数,采用控制变量参数法求解非线性规划问题的数值解。仿真及实车试验结果表明,能够实现平行泊车任意起始位姿的路径规划及较高跟踪精度。更多还原

【Abstract】 To realize path planning of any start posture in parallel parking,and get a continuous curvature path which the collision constraints and vehicle kinematic constraints is satisfied.Firstly,convert the mathematic description of the parking planning problem into an optimal control problem based on the extended vehicle kinematic model,then integrate the path constraints into the performance function by smoothed penalty function.Finally control variable parameterization(CVP) method is used to get the optimal numerical solution.Offline simulation and field test result show this path planning method has a high performance in parallel parking of any start posture and high tracking accuracy.更多还原