Research on Parallel Parking Path Planning Method for Narrow Parking Space

被引：0
|
作者：
Hu J. [1 ]
Zhu L. [1 ]
Chen R. [1 ]
Zhong X. [1 ]
Xu W. [1 ]
Zhang M. [1 ]
机构：
[1] Wuhan University of Technology，Hubei Key Laboratory of Modern Auto Parts Technology，Wuhan 430070； Wuhan University of Technology，Auto Parts Technology Hubei Collaborative Innovation Center，Wuhan 430070； Hubei Technology Research Center of New Energy and In
来源：
Qiche Gongcheng/Automotive Engineering | 2022年 / 44卷 / 07期
关键词：
automatic parking; curve combination; numerical optimization; path planning;
D O I：
10.19562/j.chinasae.qcgc.2022.07.010
中图分类号：
学科分类号：
摘要：
Aiming at the parallel parking scenes for narrow parking space，a parking planning method based on curve combination and numerical optimization is proposed in this paper. Firstly，the parking process is re⁃ versed and divided into two stages：adjustment planning and berth entering planning. The adjustment planning is de- vised by establishing a constraint optimization model based on clothoid-arc combination，to guide the vehicle to ad⁃ just its position and posture in the berth to find the key points of leaving，while the berth entering planning is de- vised by setting up a constraint optimization model based on a clothoid-arc-line combination and a quintic polynomi⁃ al to guide the vehicle to find the best parking point. Then，a simulation is carried out on different working condi⁃ tions with Matlab to validate the adaptability of the algorithm. Finally，real vehicle test is conducted to verify the ef⁃ fectiveness of the planned path. The results of simulation and real vehicle test show that the parallel parking path planning method proposed can meet the parking requirements in a narrow parking space with strong adaptability. © 2022 SAE-China. All rights reserved.
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页码：1040 / 1048
页数：8
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