双向路径规划在垂直自动泊车系统中的仿真研究

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对于车辆自动泊车的动作控制，主要是对车速和转向角的 控制，以实现使车辆从某一初始位置停泊到指定的停车位置。
图1 平行泊车示意图
36│ 天津汽车TIANJIN AUTO│2008年第5期
Design.Innovation
FOCUS 技术聚焦
考虑到泊车过程中，驾驶员通常都是使用倒车的办法来实现泊 单的质点运动，也不是在水平面上简单的平动，因此还需要对
车的，在本课题的研究中，也使用倒车的方法来完成自动泊车。 一些问题进行说明。
3.1 车辆运动学方程的建立
图 4 是车辆在笛卡尔坐标系中的模型。考虑到泊车的过程
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随着汽车工业的发展，汽车的保有量日益增加，车辆的增 多使驾驶难度增加，碰撞事故频发。泊车问题，尤其是对于新 手而言，是一个比较大的困扰。基于这个原因各大研究机构和 汽车生产厂商都相继开发了自动泊车系统。 1 泊车的类别
根据车辆停泊时，相对其他车辆和环境的相对位置和方向， 泊车的姿态大致可以分为平行泊车（图 1）和垂直泊车（图 2） 2 大类。文章研究的是在垂直泊车情况下的自动泊车技术。
Simulation Study on Duplex Route Program for the Autonomous Vertical Parking System
Abstract: With the development of auto industry, nowadays control strategy of the autonomous parking system cannot meet the requirement. This paper introduces the method of duplex route program to the autonomous vertical parking environment for the first time. The reverse process of the vehicle was conversed; the route planning from the highly constrained zone to the lightly constrained zone was realized. This paper also simulates the route, which was designed by the duplex route program in the MATLAB environment. The result of the simulation indicates that task of autonomous parking can be finished and obstacle can be excellently avoided in this method. Keywords: Autonomous vertical parking Duplex route program Constrain
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技术聚焦 FOCUS
设计.创新
双向路径规划 在垂直自动泊车系统中的仿真研究
徐津津 （同济大学中德学院）
摘要 随着汽车工业的发展，当前自动泊车系统的控制策略已不能满足需要。文章首次将双向路径规划的方法引入到垂 直自动泊车的情况中，将倒车的过程逆化，实现了从高约束区域向低约束区域的路径规划；同时还在MATLAB环境下，对 使用双向路径规划方法规划出的路径进行了仿真研究，指出双向路径规划的方法可以出色地完成自动泊车和避障任务。 关键词 垂直自动泊车 双向路径规划 约束