关键词: 自动泊车；平行泊车；路径规划；B 样条曲线；逆向行驶

Abstract: In view of the discrete curvature of path planning and large calculation amount of path solution for automatic parking, this paper combines the reverse driving method and arc-line-arc method firstly, to solve the six control points needed to draw the B-spline curve. Secondly, according to the theory of B-spline, a curve that can meet the requirements of obstacle avoidance is obtained. From the simulation results of MATLAB, it can be seen that the curve obtained by this method not only meets the obstacle avoidance requirements and the constraints of the inherent parameters of the body, but also the vehicle with continuous curvature does not need to stop and turn in the middle, and the flexibility of the curve can be improved by changing the position of the control point, so that the vehicle can complete the parking task stably and accurately, and improve the parking efficiency.

Key words: Automatic parking; Parallel parking; Path planning; B-spline curve; Reverse driving