The invention discloses a parallel parking trajectory planning method based on a vehicle kinematic model. The method comprises the steps of firstly, establishing a parallel parking geometric model and a vehicle kinematic model according to a vehicle parking scene, and determining a parking point of a vehicle in a target parking space according to the geometric model; secondly, designing the parking speed and the rotating angle according to the speed and rotating angle change trend in the parallel parking process, using the designed speed and rotating angle as vehicle system input, and therefore obtaining a corresponding parking track; and finally, integrating the collision constraint, the vehicle steering performance constraint and the geometric constraint in the parking process, and establishing a target function by taking the minimization of the lateral deviation between the final position and the garage boundary and the rotation angle delta 1, namely the weighted sum of the corresponding track gentle degree and the parking time t as an optimization target to solve the optimal parking track. The parking track designed by the method has the advantages that the geometric collision constraint of the vehicle can be met, the direction angle is smooth, the curvature is continuous and smooth, and the required parking space is small.

    本发明公开了一种基于车辆运动学模型的平行泊车轨迹规划方法;首先根据车辆泊车场景建立平行泊车几何模型和车辆运动学模型,根据几何模型确定车辆在目标停车位的停放点;其次,根据平行泊车过程中速度和转角变化趋势设计泊车速度与转角,并将设计的速度和转角作为车辆系统输入,从而获得对应的泊车轨迹;最后,综合泊车过程中的碰撞约束、车辆转向性能约束和几何约束,以终点位置与车库边界的横向偏差、转角δ1,即对应轨迹平缓程度和泊车时间t的加权和的最小化为优化目标建立目标函数来求出最优泊车轨迹。该方法设计的泊车轨迹具有能够同时满足车辆几何碰撞约束、方向角平滑、曲率连续且平顺、所需车位空间小的优点。


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    Title :

    Parallel parking trajectory planning method based on vehicle kinematic model


    Additional title:

    一种基于车辆运动学模型的平行泊车轨迹规划方法


    Contributors:
    LEI CHAO (author)

    Publication date :

    2021-06-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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