摘要
[目的]为实现安全泊车,针对自动泊车路径规划方法中泊车环境存在障碍物的情况进行路径规划研究.[方法]提出基于5阶B样条曲线的双步式避障泊车路径规划方法,建立泊车环境避障及障碍物避障约束函数,以B样条路径曲线控制点为主要变量,以泊车完成时车辆在车位内且车身平行于车位为目标,建立含有多个非线性约束的泊车路径函数,并进行求解.[结果]数值仿真结果表明,基于5阶B样条曲线的避障泊车路径规划方法,可得到同时满足环境避障约束、障碍物避障约束及车辆参数约束的泊车轨迹曲线,能够实现当泊车环境存在障碍物时的路径规划.[结论]本文提出的5阶B样条曲线双步式避障泊车路径规划方法适用于平行泊车与垂直泊车,能够有效规划出一条可行的避障泊车路径,且保证行驶过程中车辆转向角速度连续,车辆与障碍物保持一定安全距离.该方法能够应用在较多泊车场景,具有较好的理论意义与工程价值.
[Objective]In order to realize safe parking,this paper investigates the path planning for automatic parking in environments with obstacles.[Methods]A two-step obstacle avoidance path planning method using 5th order B-spline curves was proposed to establish the obstacle avoidance constraint function for the parking environment.Using the control points of the B-spline path curve as the main variables,and ensuring that the vehicle is parallel to the parking space upon completion of parking,a parking path function with multiple nonlinear constraints was established for solving.[Results]Simulation results show that the 5th order B-spline curve-based path planning method effectively generates a parking trajectory that satisfies environmental,obstacle avoidance,and vehicle parameter constraints,enabling path planning in obstacle-filled environments.[Conclusions]The 5th order B-spline curve two-step obstacle avoidance parking path planning method proposed in this paper is suitable for parallel parking and vertical parking,and can effectively plan a feasible obstacle avoidance parking path,and ensure that the vehicle s turning angular speed is continuous during driving,and the vehicle maintains a certain safe distance from obstacles.This method can be applied in many parking scenarios,and has strong theoretical and practical significance.The proposed two-step obstacle avoidance path planning method using 5th order B-spline curves is effective for both parallel and vertical parking.It ensures a feasible path with continuous turning angular speed and maintains a safe distance from obstacles.
作者
周辰昊
刘中华
吴新烨
ZHOU Chenhao;LIU Zhonghua;WU Xinye(School of Architecture and Civil Engineering,Xiamen University,Xiamen 361005,China)
出处
《厦门大学学报（自然科学版）》
CAS
CSCD
北大核心
2024年第4期670-678,共9页
Journal of Xiamen University：Natural Science
基金
国家自然科学基金(11772277)。
关键词
自动泊车
路径规划
车辆避障
B样条曲线
automatic parking
path planning
vehicle obstacle avoidance
B-spline curve
