基于二段多项式的窄空间平行泊车路径规划方法  

Path Planning by Two-Piece Polynomial Equation in Narrow Space for Parallel Parking

作　　者：熊莹[1,2] 毛雪松[3] XIONG Ying;MAO Xue-Song((School of Computer Science and Technology,Wuhan University of Science and Technology,Wuhan 430065,China;Hubei Province Key Laboratory of Intelligent Information,Processing and Real-time Industrial System,Wuhan University of Science and Technology,Wuhan 430065,China;School of Information Science and Engineering/School of Artificial Intelligence,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学计算机科学与技术学院,武汉430065 [2]武汉科技大学智能信息处理与实时工业系统湖北省重点实验室,武汉430065 [3]武汉科技大学信息科学与工程学院/人工智能学院,武汉430081

出　　处：《计算机系统应用》2020年第8期211-216,共6页Computer Systems & Applications

摘　　要：针对窄空间平行泊车路径规划问题,提出一种基于二段五阶多项式的方法分别计算车辆前进路线与倒车路线,其中前进路线用于调整车辆位姿,实现倒车入库路径曲率最优.根据常规停车位大小与家庭轿车的尺寸建立仿真环境,结合车辆运动模型,搜索自由空间内无碰撞路径.仿真结果表明,二段五阶多项式法可以实现在有限空间范围内的智能泊车,且在由两段路径连接得到的路径上方向盘转向角连续变化.To solve the problem of path planning for parallel parking in narrow spaces,a two-piece five order polynomial equation based method was proposed for calculating approaching path and reverse path respectively,among which the approaching path was applied for adjusting the vehicle pose so that a curvature optimal path for reversing car into parking lot is available.Simulation was performed by considering the general size of parking lot and family car,as well as the kinematic model of vehicle motion,to find a collision free path in free space.The result shows that the two-piece five order polynomial equation-based method can realize intelligent parking in narrow spaces,and the steering angle of wheel changes continuously on the linked path.

关 键 词：无人驾驶 自主泊车 约束空间 多项式 路径规划 

分 类 号：U463.6[机械工程—车辆工程]