融合路点重排与样条曲线的泊车路径优化研究  

Research on parking path optimization by integrating waypoint rearrangement and spline curves

作　　者：黎佳骏 朱成军 王博 孙超 LI Jiajun;ZHU Chengjun;WANG Bo;SUN Chao(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100000,China;Shenzhen Automotive Research Institute,Beijing Institute of Technology,Shenzhen 518118,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100000 [2]北京理工大学深圳汽车研究院,深圳518118

出　　处：《重庆理工大学学报(自然科学)》2025年第2期72-79,共8页Journal of Chongqing University of Technology:Natural Science

基　　金：国家重点研发计划课题(2022YFB2503203);广东省重点领域研发计划项目(2023B0909040001)。

摘　　要：针对泊车过程中由于混合A^(*)算法生成的泊车路径存在扭结和曲率不连续导致的车辆行驶顿挫的问题,提出了一种融合路点重排与最小二乘样条曲线的泊车路径优化方法。通过对混合A^(*)算法生成的路径的挡位与长度特性进行分析,确定并剪除其中存在的路径扭结路段,利用路点重排算法对关键路点的顺序进行排布,引入最小二乘B样条曲线,对移除扭结后的不连续且不平滑的曲线进行拼接与平滑。在仿真环境和实车实验中对算法的可行性进行验证,结果显示:该算法可以消除泊车或低速行驶路线中的扭结,使车辆平稳无顿挫行驶,提升使用者体验,有利于进一步拓展泊车和低速行驶功能的应用场景。To address the vehicle driving frustration caused by kinks and discontinuous curvature of the parking path generated by the hybrid A^(*)algorithm during parking,we propose a parking path optimization method based on waypoint rearrangement and least squares spline curve.By analyzing the stall and length characteristics of the path generated by the hybrid A^(*)algorithm,the kinks in the path are determined and cut off.The waypoint rearrangement algorithm is then used to arrange the order of the key waypoints,and the least squares B-splines are introduced to splice and smooth the discontinuous and jagged curves with the kinks removed.The feasibility of the algorithm is verified in the simulation environment and through real vehicle experiments.Results show the algorithm eliminates the kinks in the parking or low-speed driving route,enabling the vehicle to drive smoothly without frustration,improving the user experience,and helping further expand the application scenarios of parking and low-speed driving functions.

关 键 词：自动驾驶 泊车路径 路径优化 样条曲线 

分 类 号：U463.6[机械工程—车辆工程]