摘要
针对自动泊车系统(Automatic Parking System)中的路径规划问题,为实现不同泊车起始点的路径规划,提出一种基于两段圆弧的倒推式平行泊车路径规划方案,方案具有曲率连续及计算简单等优点。文章所提出的泊车路径规划方案工作原理为:针对组成泊车路径的两段圆弧,在满足泊车约束条件的情况下,首先利用车辆的最小转弯半径,确定泊车路径中第二段圆弧的半径;接着利用二分法迭代计算寻找第一段泊车路径圆弧的半径,得到两段相切且曲率连续的圆弧泊车路径。最后通过一个数值仿真来验证所提泊车路径规划方案的有效性与可靠性。
This article studies the problem of path planning in automatic parking system.In order to realize the path planning of different parking starting points,based on two circular arc inverted parallel parking path planning scheme is proposed,which has the advantages of continuous curvature and simple calculation.The working principle of the parking path planning scheme proposed in this paper is that in view of the two arcs that make up the parking path,the radius of the second arc of the parking path in the parking path is first determined by using the minimum turning radius of the vehicle when the parking constraint condition is satisfied.And then the radius of the first segment of the arc is calculated by using the Bisection method to obtain two arc-shaped parking paths that are tangent to each other and have continuous curvature.Finally,a numerical simulation is used to verify the effectiveness and reliability of the proposed parking path planning scheme.
作者
张持
张永林
ZHANG Chi;ZHANG Yonglin(College of Electronic Information,Jiangsu University of Science and Technology,Zhenjiang 212003)
出处
《计算机与数字工程》
2019年第12期3035-3040,共6页
Computer & Digital Engineering
关键词
自动泊车
路径规划
最小转弯半径
倒推式
automatic-parking
path planning
the minimum turning radius
inverted
