基于狭窄垂直车位的多段式路径规划与
仿真分析

doi:10.16638/j.cnki.1671-7988.2023.010.005

汽车实用技术 ›› 2023, Vol. 48 ›› Issue (10): 22-29.DOI: 10.16638/j.cnki.1671-7988.2023.010.005

基于狭窄垂直车位的多段式路径规划与仿真分析

蔡云 1,2，王广 1,2，张又水 1,2，吴澳琦 1,2，陈锐 3

1.西华大学汽车与交通学院；2.汽车测控与安全四川省重点实验室；3.成都路行通信息技术有限公司

出版日期:2023-05-30 发布日期:2023-05-30
通讯作者: 蔡云
作者简介:蔡云（1979—），男，硕士，副教授，研究方向为智能汽车感知、规划与控制技术，E-mail:29682131@qq.com。
基金资助:
基于北斗双模高精度定位的智能车联大数据安全综合服务平台开发及推广示范（2020ZHCG0077）。

Multi-stage Path Planning and Simulation Analysis Based on Narrow Vertical Parking Space

CAI Yun1,2 , WANG Guang1,2, ZHANG Youshui1,2 , WU Aoqi1,2 , CHEN Rui3

1.School of Automobile and Transportation, Xihua University; 2.Vehicle Measurement, Control and Safety Key Laboratory of Sichuan Province; 3.Chengdu Luxingtong Information Technology Company Limited

Online:2023-05-30 Published:2023-05-30
Contact: CAI Yun

摘要/Abstract

摘要： 自动泊车系统（APS）目前受到广泛的关注，但大部分研究忽略了车辆初始航向角偏差对整体泊车效果的影响，对此，论文研究了狭窄垂直车位场景下车辆初始航向角不为零的多段式路径规划方法。首先基于车辆最小转弯半径建立了车辆后轴中心运动轨迹方程，通过五次多项式对路径规划进行优化，实现路径曲率更连续、泊车更平顺和舒适。CarSim/Simulink 联合仿真验证表明，五次多项式泊车路径优化方法可行，在满足泊车安全的基础上，泊车位所需实际宽度减少 10.4%，长度减少 15.3%。

关键词: 垂直泊车；路径规划；五次多项式；模型预测控制；联合仿真；CarSim/Simulink

Abstract: Automated parking system (APS) is a hot topic in current research. However, most studies ignore the effect of the initial vehicle heading angle deviation on the overall parking effect, this paper investigates a multi-stage path planning method with a non-zero initial vehicle heading angle in a narrow vertical parking space scenario. Firstly, based on the minimum turning radius of the vehicle, the trajectory equation of the vehicle rear axle center motion is established, and the path planning is optimized by the fifth polynomial to achieve more continuous path curvature, smoother and more comfortable parking. CarSim/Simulink joint simulation validation shows that the five polynomial parking path optimization method is feasible, and the actual width required for the parking space is reduced by 10.4% and the length is reduced by 15.3% on the basis of satisfying the parking safety.

Key words: Vertical parking; Path planning; Quintuple polynomial; Model predictive control; CoSimulation; CarSim/Simulink

蔡云. 基于狭窄垂直车位的多段式路径规划与仿真分析[J]. 汽车实用技术, 2023, 48(10): 22-29.

CAI Yun. Multi-stage Path Planning and Simulation Analysis Based on Narrow Vertical Parking Space[J]. Automobile Applied Technology, 2023, 48(10): 22-29.

参考文献

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基于狭窄垂直车位的多段式路径规划与仿真分析

Multi-stage Path Planning and Simulation Analysis Based on Narrow Vertical Parking Space

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