基于驾驶员经验的自动泊车规划算法研究*

doi:10.19562/j.chinasae.qcgc.2019.012.007

汽车工程 ›› 2019, Vol. 41 ›› Issue (12): 1394-1400.doi: 10.19562/j.chinasae.qcgc.2019.012.007

基于驾驶员经验的自动泊车规划算法研究^*

胡文¹, 谭运生², 康龙云¹, 于宗光³

1.华南理工大学电力学院,广州 510640;
2.领途汽车有限公司智能驾驶开发部,无锡 214000;
3.中国电子科技集团公司第五十八研究所,无锡 214000

收稿日期:2018-10-08 发布日期:2019-12-25
通讯作者: 康龙云,教授,博士,E-mail:lykang@scut.edu.cn
基金资助:
*广东省重大科技项目(2014B010125002)和东莞市引进创新科研团队计划(2014607119)资助

Study on Automatic Parking Planning Algorithm Based on Driver's Experience

Hu Wen¹, Tan Yunsheng², Kang Longyun¹, Yu Zongguang³

1.School of Electronic Power, South China University of Technology, Guangzhou 510640;
2.Intelligent Diving Development Department, Linktour Automobile Co., Ltd., Wuxi 214000;
3.No.58 Research Institute of China Electronics Technology Group Corporation, Wuxi 214000

Received:2018-10-08 Published:2019-12-25

摘要/Abstract

摘要： 为解决现有泊车算法中的原地转向和泊车实时性差与精度不足的问题,在借鉴熟练驾驶员泊车经验的基础上,对泊车过程的各个阶段进行机理分析,并建立相应的数学模型,设计了一种新的自动泊车规划算法。该算法包括泊车控制、转向控制和速度控制3个部分:泊车控制用于规划泊车路径,输出转向角和期望速度;转向控制用于控制转向盘反向转向的时机;速度控制用于控制车辆在泊车过程中的速度。仿真结果表明:所提出的算法能实现精确的自动泊车过程,既满足精度要求,又达到泊车控制的实时性要求。

关键词: 自动泊车, 路径规划, 驾驶经验, 平行泊车

Abstract: In order to solve the issues of pivot steering, poor real-time performance and insufficient accuracy in existing vehicle parking algorithms, on the basis of drawing on the experiences of skilled drivers, the mechanism of each stage of vehicle parking process is analyzed with corresponding mathematical models worked out, and a novel automatic parking programming algorithm is designed. The algorithm covers three parts: parking control, steering control and speed control. In parking control, parking path is planned and the desired steering angle and vehicle speed are output. Steering control is for controlling the starting moment of reverse steering, while speed control aims to control the vehicle speed in parking process. Results of simulation show that the algorithm proposed can achieve accurate automatic parking, meeting the requirements of both accuracy and real-time performance in parking control.

Key words: automatic parking, path planning, driving experience, parallel parking

胡文, 谭运生, 康龙云, 于宗光. 基于驾驶员经验的自动泊车规划算法研究^*[J]. 汽车工程, 2019, 41(12): 1394-1400.

Hu Wen, Tan Yunsheng, Kang Longyun, Yu Zongguang. Study on Automatic Parking Planning Algorithm Based on Driver's Experience[J]. Automotive Engineering, 2019, 41(12): 1394-1400.

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基于驾驶员经验的自动泊车规划算法研究^*

Study on Automatic Parking Planning Algorithm Based on Driver's Experience

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