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

摘要： 针对自动泊车路径规划曲率不连续、路径求解计算量较大的问题，论文首先结合逆向 行驶方法和圆弧-直线-圆弧曲线组合方法，求解出绘制 B 样条曲线所需要的 6 个控制点，其 次根据 B 样条理论得出一条满足避障要求的曲线。通过 MATLAB 的仿真结果可以看出，此 方法得出的曲线不但满足避障要求和车身固有参数的约束，而且曲率连续车辆无需中途停车 转向，同时可以通过改变控制点的位置来提高曲线的灵活度，使得车辆可以稳定、准确地完 成泊车任务，提高了泊车效率。

关键词: 自动泊车；平行泊车；路径规划；B 样条曲线；逆向行驶