基于两步法的平行泊车分段路径规划算法  

Path Planning Method for Parallel Parking Assist System

作　　者：张野[1] 陈慧[1] 程昆朋[1] 

机构地区：[1]同济大学汽车学院,上海201804

出　　处：《计算机仿真》2013年第6期169-173,共5页Computer Simulation

基　　金：国家重点基础研究发展规划(973计划)(2011CB711200)

摘　　要：研究应用于辅助平行泊车的路径规划问题,为引导车辆从任意的起始位姿开始无碰撞地泊入较小的库位。针对车辆的泊车路径规划问题,提出了一种分段式的路径规划方法,采用采样运动规划中的两步法,并采用平滑化的路径来解决泊车过程中曲率不连续点处需停车转向的问题;另外,采用分段路径规划策略,选择合适的目标停车位姿,减少泊车过程中的调整次数,缩短了可泊入的最小库位长度。仿真结果验证了改进方法的有效性和实用性。In order to maneuver a vehicle into a parking lot of the minimum length and to reduce the chances for vehicle to steer at standstill, a path planning method for intelligent parking assist system was designed here. Based on the geometry and position of the parking lot, the path planning module was designed to determine the target configura- tion and the required number of adjustments, then generated a collision - free path. Finally, it was converted into an executable path with continuous curvature. Simulation test results show the effectiveness of this method.

关 键 词：路径规划 平行泊车 最小库位长度 连续曲率路径 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]