The invention relates to a parallel parking path planning method based on reverse differential evolution algorithm optimization, and belongs to the field of parking path planning. The method comprises the following steps of: firstly, planning an initial parking path by adopting a quintic polynomial in combination with a vehicle pose constraint, and establishing a boundary obstacle avoidance constraint and a vehicle performance constraint to limit a selectable area of a parking initial position coordinate, namely a parameter range of a fitness function in a subsequent algorithm; secondly, aiming at the problem that the curvature and the length of the initial path cannot be considered at the same time, establishing a fitness function according to the weighted sum of the maximum curvature of the path and the distance between the initial position and the final position of parking, and optimizing the coordinates of the initial position of parking by using a reverse differential evolution algorithm; and finally, performing simulation analysis on the paths before and after optimization through a simulation experiment. According to the parallel parking path planning method based on reverse differential evolution algorithm optimization, the path length and the path curvature can be balanced and optimized at the same time, the parking space is saved, and the parking comfort is improved.
本发明涉及一种基于反向差分进化算法优化的平行泊车路径规划方法,属于泊车路径规划领域。首先,结合车辆位姿约束,采用五次多项式规划初始泊车路径,建立边界避障约束和车辆性能约束以限制泊车初始位置坐标的可选区域,即后续算法中适应度函数的参数范围;其次,针对初始路径无法兼顾曲率和长度的问题,以路径最大曲率和泊车始末位置之间的距离二者的加权和建立适应度函数,利用反向差分进化算法对泊车初始位置坐标进行优化;最后,通过仿真实验,对优化前后的路径进行仿真分析。本发明提供的一种基于反向差分进化算法优化的平行泊车路径规划方法,能同时对路径长度及路径曲率进行权衡优化,既节约泊车空间又提高泊车舒适性。
Parallel parking path planning method based on reverse differential evolution algorithm optimization
一种基于反向差分进化算法优化的平行泊车路径规划方法
2025-02-28
Patent
Electronic Resource
Chinese
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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