| 平行泊车路径规划算法研究及验证 |
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| 引用本文： | 王 瑞,孙 涛,赖 杰.平行泊车路径规划算法研究及验证[J].教育技术导刊,2020,19(4):119-124. |
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| 作者姓名： | 王 瑞 孙 涛 赖 杰 |
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| 作者单位： | 上海理工大学 机械工程学院，上海 200093 |
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| 摘 要： | 路径规划算法研究是自动泊车系统中最常见的问题之一。为解决平行泊车场景下，车辆泊车入位较难的问题，采用反向推导法，理论分析泊车过程并推导了路径规划函数公式，在确定泊车起点后，能够安全引导车辆进入泊车位。首先建立车辆模型，在确定碰撞约束和最优目标函数后，推导了车辆三阶段单向行驶泊车路径；然后针对单向泊车路径规划中要求车位长度较长的问题，提出四阶段行驶路径规划方法；最后，根据实际车辆及车位信息，利用Matlab软件与实验车平台，分别验证了该路径规划方法的有效性。实验结果表明，采用双向四阶段泊车方式相比单向三阶段泊车方式，对车位长度的要求缩短了0.26m。
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| 关 键 词： | 路径规划 平行泊车 车辆模型 软件仿真 |
| 收稿时间： | 2019-12-05 |
Research and Verification of Parallel Parking Path Planning Algorithm |
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| WANG Rui,SUN Tao,LAI Jie.Research and Verification of Parallel Parking Path Planning Algorithm[J].Introduction of Educational Technology,2020,19(4):119-124. |
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| Authors: | WANG Rui SUN Tao LAI Jie |
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| Institution: | School of Mechanical Engineering， University of Shanghai for Science and Technology， Shanghai 200093， China |
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| Abstract: | Research on path planning algorithms is one of the most common problems in vehicle parking systems. This research is applied to the path planning problem in the parallel parking scenario. The reverse derivation method is used to theoretically analyze the parking process and derive the path planning function formula. After the parking starting point is determined， the vehicle can be safely guided into the parking space. This paper first establishes a vehicle model. After determining the collision constraints and the optimal objective function， the formula derives the three-phase one-way parking path of the vehicle. Then， the problem of the long parking space required in the one-way parking path planning is proposed. Four-stage driving path planning method. Finally， according to the actual vehicle information and parking space information， the parking path trajectory is simulated using Matlab software. Finally， a test vehicle is used as a platform to establish a software and hardware test platform for real vehicle verification. The results show the effectiveness of the proposed method for path derivation. The test results show that the two-way four-stage parking method requires 0.26m shorter parking space than the one-way three-stage parking method. |
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| Keywords: | path planning parallel parking vehicle model software simulation |
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