多段式自动泊车最优路径规划与仿真分析

doi:10.16182/j.issn1004731x.joss.20-0715

摘要/Abstract

摘要：

针对狭小平行泊车位的路径规划和泊车轨迹曲率不连续等问题，同时考虑避撞约束，提出了一种最优化多段式泊车路径规划方法。建立了车辆方向盘转速恒定时的车辆后轴中心运动轨迹方程；其次为保证车辆安全停车，建立了避障约束函数；设置泊车路径后轴中心为控制点，以泊车空间最小、最终泊车姿态角最小等泊车指标求取路径最优解。通过Simulink与Carsim联合仿真搭建模型，仿真结果表明，基于此方法设计的泊车路径，在满足泊车安全的前提下，可实现快速、稳定狭小平行泊车位停车。

关键词: 车辆工程, 自动泊车, 最优路径规划, 避撞约束, 五段式路径

Abstract:

To resolve the path planning for narrow parallel parking spaces and the discontinuous curvature of the parking trajectory, this paper proposes a method of optimal multi-stage parking path planning considering collision avoidance constraints. A trajectory equation for the center of the vehicle rear axle is derived for the case when the steering wheel speed is constant. A function of collision avoidance constraints is developed to ensure the safe parking of the vehicle. With the center of the rear axle of the parking path as the control point, the optimal path is solved according to parking indicators such as the minimum parking space and the smallest final parking attitude angle. Simulink/Carsim co-simulation is performed to build a model. The simulation results show that a parking path designed by this method can achieve fast and stable parking in narrow parallel parking spaces under the premise of meeting parking safety needs.

Key words: vehicle engineering, automatic parking, optimal path planning, collision avoidance constraint, five-stage path

中图分类号:

U471.15

王启明, 宗高强, 胥津铭. 多段式自动泊车最优路径规划与仿真分析[J]. 系统仿真学报, 2022, 34(2): 385-395.

Qiming Wang, Gaoqiang Zong, Jinming Xu. Optimal Path Planning for Multi-stage Automatic Parking and Simulation Analysis[J]. Journal of System Simulation, 2022, 34(2): 385-395.

图/表 15

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图2

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表1

2种工况车辆参数设置

工况	车身参数
工况	车长/m	车宽/m	轴距/m	前悬/m	后悬/m	前轮最大转向角/( $°$ )	方向盘最大转速/(rad/s)
1	4.851	1.847	2.908	0.843	1.1	$36.05$	4.89
2	4.315	1.783	2.63	1.03	0.685	$38.5$	5.136

表1

表2

泊车工况参数

泊车工况	停车位长度 $P c$ /m	停车位上边界到车辆初始位置后轴中心距离 $W 1$ /m	停车位右边界到车辆初始后轴中心距离 $H 1$ /m	停车位宽度 $P k$ /m	车辆泊车速度 $V$ /（km/h）
工况1	5.4	1.12	1.9	2.3	10
工况2	5.5	1	1.8	2.3	9.36

表2

表3

图11

图12

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