自动驾驶车辆的平行泊车轨迹规划

doi:10.19562/j.chinasae.qcgc.2022.03.004

Abstract

Abstract:

Based the analysis on the parallel parking scenes of autonomous vehicles， a parallel parking trajectory planning method based on sampling is proposed， which decouples the parallel parking trajectory planning of autonomous vehicles into path planning and speed planning. By sampling the parking starting point region， a series of parking path curves with continuous curvature and meeting the path constraint are generated， and the optimal parking path is selected by using multi-objective evaluation function. Then on the basis of the optimal parking path， the S-t curve with the shortest selecting time and meeting the constraint is selected by time sampling to generate the trajectory. Finally， simulation and real vehicle test verify the feasibility and effectiveness of the method proposed and the parallel parking of autonomous vehicles is successfully realized.

Key words: autonomous driving, parallel parking, trajectory planning, orderly-sampling-based planning

Jie Hu,Minchao Zhang,Wencai Xu,Ruinan Chen,Xinkai Zhong,Linglei Zhu. Parallel Parking Trajectory Planning for Autonomous Vehicles[J].Automotive Engineering, 2022, 44(3): 330-339.

Figures/Tables 18

参数	符号	单位	数值
车位长	$L p$	$m$	7.5
车位宽	$L w$	$m$	2.5
道路宽	$D r$	$m$	6
车长	$L$	$m$	4.718
车宽	$W$	$m$	1.84
轴距长度	$L W$	$m$	2.74
前悬长度	$L f$	$m$	0.968
后悬长度	$L r$	$m$	1.01
后轴中心最小转弯半径	$R m i n$	$m$	6
最大前轮转向角	$φ m a x$	$r a d$	0.428
最大前轮转向角速度	$φ ˙ m a x$	rad/s	0.43

References 21

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方法	计算时间	平滑度	场景适应能力	路径上转折点数量
几何法	非常短	好	低	中等
多步法	长	好	中等	大量
采样法	中等	中等	中等	少
数值优化	非常长	好	好	少

工况	后轴中心坐标/m	航向角/rad	转向角/rad
①	（-2，2.75）	0.523（30°）	0
②	（-2，2.75）	0	-0.174（10°）
③	（-1，4.25）	0	0.174（-10°）

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Parallel Parking Trajectory Planning for Autonomous Vehicles

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Figures/Tables 18

References 21

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