关键词: 自动泊车；智能驾驶；路径规划；CarSim

Abstract: Automatic parking system is an important field of intelligent driving technology and plays an important role in the last kilometer of intelligent driving. In the research of automatic parking system, a multinomial fitting multi-section parking path planning method is proposed to solve the problem of discontinuous curvature of traditional circular arc linear tangent parking path. In the vehicle motion control part, the model predictive control method is used to control the lateral motion of the vehicle. Since there is no accurate model of vehicle longitudinal motion, proportional-integraldifferential feedback is used to control vehicle longitudinal velocity. Finally, the CarSim vehicle dynamics simulation software and Matlan/Simulink are used for simulation analysis. The experimental results show that the parking path designed in this paper is suitable for parking conditions, and the tracking error is small.

Key words: Automatic parking; Intelligent driving; Path planning; CarSim