基于分段高斯伪谱法的平行自主泊车路径规划*

doi:10.19562/j.chinasae.qcgc.2019.012.008

摘要/Abstract

摘要： 本文中提出一种在不同泊车空间采用分段高斯伪谱法的自主泊车路径规划方法。首先,通过建立车辆运动学模型,结合动力学约束、端点约束和路径避障约束,将自主泊车路径规划问题转换为最优控制问题,而在不同泊车区域内采用分段高斯伪谱法将最优控制问题离散化为非线性问题。接着,以最短泊车完成时间为优化目标函数,采用内点法对非线性问题进行优化求解得到最优泊车路径。然后,在Matlab/Simulink中搭建仿真模型,并设定了5种不同泊车位长度的平行自主泊车工况,其泊车位长度分别为车长的1.1~1.8倍。仿真结果表明,所提出的方法可统一有效对自主泊车路径规划问题进行求解,且与传统伪谱法相比仿真收敛速度更快,泊车时间更短。最后,通过实车试验进一步验证采用所提出方法的有效性。

关键词: 自主泊车, 路径规划, 分段高斯伪谱法, 最优控制

Abstract: A piecewise Gauss pseudospectral method is proposed as a path planning scheme for autonomous parking in different parking spaces in this paper. Firstly, the path planning problem for autonomous parking is transformed into an optimal control problem by establishing a vehicle kinematics model with dynamics constraints, end-point constraints and path obstacle avoidance constraints applied, and the optimal control problem is discretized into a nonlinear problem by Gauss piecewise pseudospectral method in different parking spaces. Then with minimizing total parking time as the objective, an optimization is conducted on nonlinear problem by using interior point method to obtain the optimal parking path. Next, a simulation model is built with Matlab/Simulink, and five autonomous parallel parking conditions with different lengths of parking slot defined, in which the length of parking slot is 1.1-1.8 times of vehicle length. The results of simulation show that the proposed method can uniformly and effectively solve the problem of path planning for autonomous parking, with a shorter parking time and a significantly higher convergence speed in simulation compared with the traditional pseudospectral method. Finally a real vehicle test is also performed to further verify the effectiveness of the method proposed.

Key words: autonomous parking, path planning, piecewise Gauss pseudospectral method, optimal control

钱立军, 吴冰, 仇多洋, 胡伟龙. 基于分段高斯伪谱法的平行自主泊车路径规划^*[J]. 汽车工程, 2019, 41(12): 1401-1409.

Qian Lijun, Wu Bing, Qiu Duoyang, Hu Weilong. Path Planning for Autonomous Parallel Parking Based on Piecewise Gauss Pseudospectral Method[J]. Automotive Engineering, 2019, 41(12): 1401-1409.

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基于分段高斯伪谱法的平行自主泊车路径规划^*

Path Planning for Autonomous Parallel Parking Based on Piecewise Gauss Pseudospectral Method

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