基于狭窄垂直车位的多段式路径规划与仿真分析  

Multi-stage Path Planning and Simulation Analysis Based on Narrow Vertical Parking Space

作　　者：蔡云 王广 张又水 吴澳琦 陈锐 CAI Yun;WANG Guang;ZHANG Youshui;WU Aoqi;CHEN Rui(School of Automobile and Transportation,Xihua University,Chengdu 610039,China;Vehicle Measurement,Control and Safety Key Laboratory of Sichuan Province,Chengdu 610039,China;Chengdu Luxingtong Information Technology Company Limited,Chengdu 610041,China)

机构地区：[1]西华大学汽车与交通学院,四川成都610039 [2]汽车测控与安全四川省重点实验室,四川成都610039 [3]成都路行通信息技术有限公司,四川成都610041

出　　处：《汽车实用技术》2023年第10期22-29,共8页Automobile Applied Technology

基　　金：基于北斗双模高精度定位的智能车联大数据安全综合服务平台开发及推广示范(2020ZHCG0077)。

摘　　要：自动泊车系统(APS)目前受到广泛的关注,但大部分研究忽略了车辆初始航向角偏差对整体泊车效果的影响,对此,论文研究了狭窄垂直车位场景下车辆初始航向角不为零的多段式路径规划方法。首先基于车辆最小转弯半径建立了车辆后轴中心运动轨迹方程,通过五次多项式对路径规划进行优化,实现路径曲率更连续、泊车更平顺和舒适。CarSim/Simulink联合仿真验证表明,五次多项式泊车路径优化方法可行,在满足泊车安全的基础上,泊车位所需实际宽度减少10.4%,长度减少15.3%。Automated parking system(APS)is a hot topic in current research.However,most studies ignore the effect of the initial vehicle heading angle deviation on the overall parking effect,this paper investigates a multi-stage path planning method with a non-zero initial vehicle heading angle in a narrow vertical parking space scenario.Firstly,based on the minimum turning radius of the vehicle,the trajectory equation of the vehicle rear axle center motion is established,and the path planning is optimized by the fifth polynomial to achieve more continuous path curvature,smoother and more comfortable parking.CarSim/Simulink joint simulation validation shows that the five polynomial parking path optimization method is feasible,and the actual width required for the parking space is reduced by 10.4%and the length is reduced by 15.3%on the basis of satisfying the parking safety.

关 键 词：垂直泊车 路径规划 五次多项式 模型预测控制 联合仿真 CarSim/Simulink 

分 类 号：U471.15[机械工程—车辆工程]