微小初始角度的多段式泊车路径规划  

Multi-Stage Parking Path Planning with Tiny Initial Angle

作　　者：毕锟 范英 BI Kun;FAN Ying(School of Traffic and Logistics, Taiyuan University of Science and Technology, Taiyuan 030024, China)

机构地区：[1]太原科技大学交通与物流学院,山西太原030024

出　　处：《中北大学学报（自然科学版）》2022年第1期56-61,69,共7页Journal of North University of China(Natural Science Edition)

基　　金：山西省重点研发计划项目(201903D121176)。

摘　　要：针对在实际泊车过程中,车辆初始停车状态总会与停车位有一个较小偏角的问题,提出了一种多段式平行车位泊车路径规划方法.该算法可以在实际泊车过程中存在较小初始泊车角度时进行平行泊车,并确保无碰撞且泊车入位.首先,依据阿克曼转向原理,建立了车辆的运动学模型;其次,分析了自动泊车过程中大概率会发生的碰撞问题,确定了最小安全车位大小,并划分了平行车位的泊车起始区域;最后,以无碰撞、泊车入位为目标求解多段式泊车路径.在MATLAB平台上对该平行泊车路径进行仿真验证,仿真结果表明,采用这种方法,在车辆初始偏角大于等于-30°且小于等于30°的情况下,所规划的多段式泊车路径均能使车辆准确无误地停到目标车位.A multi-stage parallel parking path planning method was proposed for the actual parking process,where the initial parking state of the vehicle always had a small offset angle from the parking space.The algorithm could parallel park when there was a small initial parking angle in the actual parking process,and ensured collision-free and parking into the space.Firstly,the kinematic model of the vehicle was established based on the Ackermann steering principle.Secondly,the collision problem with high probability occurs in the automatic parking process was analyzed,the minimum safe parking space size was determined,and the parking starting area of parallel parking space was divided,and finally the multi-stage parking path was solved with the goal of no collision and parking in place.The parallel parking path was simulated and verified on MATLAB platform,and the simulation results show that the planned multi-segment parking path can make the vehicle park accurately to the target parking space under the condition that the initial deflection angle of the vehicle is greater than or equal to-30°and less than or equal to 30°.

关 键 词：多段式路径 初始角度 平行泊车 路径规划 仿真验证 

分 类 号：U461.1[机械工程—车辆工程]