狭小车位平行泊车路径规划方法研究

doi:10.19562/j.chinasae.qcgc.2022.07.010

Abstract

Abstract:

Aiming at the parallel parking scenes for narrow parking space， a parking planning method based on curve combination and numerical optimization is proposed in this paper. Firstly， the parking process is reversed and divided into two stages： adjustment planning and berth entering planning. The adjustment planning is devised by establishing a constraint optimization model based on clothoid-arc combination， to guide the vehicle to adjust its position and posture in the berth to find the key points of leaving， while the berth entering planning is devised by setting up a constraint optimization model based on a clothoid-arc-line combination and a quintic polynomial to guide the vehicle to find the best parking point. Then， a simulation is carried out on different working conditions with Matlab to validate the adaptability of the algorithm. Finally， real vehicle test is conducted to verify the effectiveness of the planned path. The results of simulation and real vehicle test show that the parallel parking path planning method proposed can meet the parking requirements in a narrow parking space with strong adaptability.

Key words: path planning, automatic parking, numerical optimization, curve combination

Jie Hu,Linglei Zhu,Ruinan Chen,Xinkai Zhong,Wencai Xu,Minchao Zhang. Research on Parallel Parking Path Planning Method for Narrow Parking Space[J].Automotive Engineering, 2022, 44(7): 1040-1048.

Figures/Tables 14

参数	数值
车长 $L t o t a l$ /m	4.718
车宽 $W$ /m	1.84
轴距长度 $L$ /m	2.74
前悬长度 $L f$ /m	0.968
后悬长度 $L r$ /m	1.01
最大转向角 $δ m a x$ /（°）	22.5
转向传动比 $r a t e$	20.5
转向盘转速 $ω$ /（（°）·s^-1）	300

References 16

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场景	车位长/m	起始航向角/（°）
Case1	8	-5
Case2	8	0
Case3	8	5
Case4	7	-5
Case5	7	0
Case6	7	5
Case7	6	-5
Case8	6	0
Case9	6	5

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Research on Parallel Parking Path Planning Method for Narrow Parking Space

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