基于改进快速行进树的自主代客泊车路径规划  

Autonomous Valet Parking Path Planning Based on Modified Fast Marching Tree

作　　者：张家旭 周时莹 刘晔 郭崇[1] 赵健[1] ZHANG Jiaxu;ZHOU Shiying;LIU Ye;GUO Chong;ZHAO Jian(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;Intelligent Network R&D Institute,China FAW Group Co.,Ltd.,Changchun 130011,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,吉林长春130022 [2]中国第一汽车集团有限公司智能网联研发院,吉林长春130011

出　　处：《湖南大学学报（自然科学版）》2022年第4期194-200,共7页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(51775235)。

摘　　要：为了加速自主代客泊车系统落地,基于改进快速行进树算法提出了一种自主代客泊车路径规划方法.首先,采用类广度优先搜索策略建立环境地图的“路径场”,并提出一种高计算效率的避障检测策略,基于环境地图“路径场”提出一种符合汽车非完整约束的远端参考点和近端参考点选取原则与路径节点更新原则,通过使路径节点逐渐靠近目标节点来完成自主代客泊车引导路径规划任务.其次,基于Dubins曲线规划满足初始泊车方位角任意性要求和泊车位方位角的非唯一性要求的泊车路径,引导汽车安全驶入泊车位.最后,仿真验证所提方法的可行性.结果表明:相对于传统的快速行进算法,所提方法规划的自主代客泊车路径满足汽车非完整约束要求,可以安全引导汽车完成自主代客泊车任务.In order to accelerate the landing of the autonomous valet parking system,a novel autonomous valet parking path planning method is proposed based on the improved fast marching tree algorithm.Firstly,a breadth first-search-like strategy is used to establish the"path field"of the environmental map,and an obstacle avoidance detection strategy with high computational efficiency is proposed.A selection principle of the far and near reference points and an update principle of the path node based on the"path field"of environmental map are proposed to con⁃form to the vehicle non-holonomic constraint.According to the above proposed strategies and principles,the path node is gradually close to the target node to complete the autonomous valet parking guidance path planning task.Then,on the basis of the Dubins curve,the parking path which meets the arbitrary requirement of the initial vehicle parking azimuth and the non-uniqueness requirement of the parking space azimuth angle is planned to guide the ve⁃hicle to enter the parking space safely.Finally,the feasibility of the proposed method is verified by simulation,and the results show that when compared with the traditional fast marching algorithm,the planned autonomous valet park⁃ing path based on the proposed method meets the requirement of the vehicle non-holonomic constraint and can guide the vehicle to complete the task of autonomous valet parking.

关 键 词：自主代客泊车 路径规划 改进快速行进树算法 避障检测策略 Dubins曲线 

分 类 号：U461.1[机械工程—车辆工程]