期刊论文

中文

交通科学与工程

1674-599X

2017

33

1

78-84

10.16544/j.cnki.cn43-1494/u.2017.01.015

国家自然科学基金项目（51678077）； 湖南省教育厅青年基金项目（NO09B003）；

本校为第一机构

为有效改善自动平行泊车的精确性,提出了一种新的基于终点区域化的二次泊车路径规划方法。通过分析泊车过程中存在的可能碰撞情形,建立了泊车过程中的碰撞约束函数。通过推算最小泊车位长度,设计了合理的泊车终点区域。利用MATLAB,建立了基于终点区域化的自动平行泊车路径规划仿真模型。以终点区域化的二次平移式和二次平行式泊车为例,进行了仿真。仿真结果表明:终点区域化的二次泊车路径规划能够实现精确的自动平行泊车。

In order to effectively improve the accuracy of automatic parallel parking, a new method of secondary parking path planning based on the regionalization of terminal points is proposed. A collision restriction function during parking is established by analy-zing the possible collisions. Then a reasonable terminal area for parking is designed byestimating the minimum length of parking spaces. A simulation model for automatic par-allel parking path planning based on the regionalization of terminal points is established in MATLAB.The simulation is done by taking secondary translational type with t...