基于Frenet 坐标系的平行泊车路径规划  

Path planning for parallel parking based on Frenet coordinate system

作　　者：黄艳国 夏金龙 钟勇 曾东红 HUANG Yanguo;XIA Jinlong;ZHONG Yong;ZENG Donghong(School of Electrical Engineering and Automation,Jiangxi University of Science and Technology,Ganzhou 341000,Jiangxi,China)

机构地区：[1]江西理工大学电气工程与自动化学院,江西省赣州市341000

出　　处：《农业装备与车辆工程》2023年第12期104-109,共6页Agricultural Equipment & Vehicle Engineering

基　　金：国家自然科学基金项目(72061016);江西省教育厅科学技术研究项目(GJJ170554)。

摘　　要：针对笛卡尔坐标系自动平行泊车路径规划研究存在模型参数过大、运动路径不够平滑和泊车精确度过低等问题,提出Frenet坐标系的平行泊车路径规划。在Frenet坐标系下进行平行泊车路径规划的研究,将泊车运动解耦成横纵轴运动,以两个不同的多项式曲线进行分析,再耦合两个相互垂直方向的运动,对比常规坐标系下五次多项式拟合的双圆弧泊车轨迹。结果显示,Frenet坐标系下规划的车辆泊车路径更平滑舒适,降低了计算量,为泊车路径规划提供了新的思路。Aiming at the problems of excessive model parameters,non-smooth motion path and low parking accuracy in the research of automatic parallel parking path planning in Cartesian coordinate system,parallel parking path planning in Frenet coordinate system was proposed.In the Frenet coordinate system,the parallel parking path planning was studied.The parking motion was decoupled into horizontal and vertical axis motion.Two different polynomial curves were analyzed,and then two mutually perpendicular directions were coupled.The motion was compared with the double circular arc parking trajectory fitted by the quintic polynomial in the conventional coordinate system.The vehicle parking path planned in Frenet coordinate system was smoother and more comfortable,which reduced the amount of calculation and provided a new direction for parking path planning.

关 键 词：平行泊车 路径规划 笛卡尔坐标系 Frenet坐标系 双圆弧泊车轨迹 

分 类 号：U463.6[机械工程—车辆工程]