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

摘要： 自动泊车系统属于智能驾驶技术的重要领域，在智能驾驶的最后一公里中承担着重要 作用。在自动泊车系统研究中，提出一种多项式拟合的多段式泊车路径规划方法，解决了传 统圆弧直线相切泊车路径曲率不连续的问题。车辆运动控制部分采用模型预测控制方法对车 辆进行横向运动控制，由于车辆纵向运动无准确模型，采用比例-积分-微分反馈控制车辆纵向 速度。文章最后通过 CarSim 车辆动力学仿真软件联合 Matlab/Simulink 进行仿真分析，实验 结果表明，文中设计的泊车路径适合泊车工况，且跟踪误差较小。

关键词: 自动泊车；智能驾驶；路径规划；CarSim