Optimal Path Planning for Multi-stage Automatic Parking and Simulation Analysis

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

Abstract

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

CLC Number:

U471.15

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.

Figures/Tables 15

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Table 1

Vehicle parameter settings for two working conditions

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

Table 1

Table 2

Parameters of parking conditions

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

Table 2

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Table 3

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