摘要 针对现阶段驾驶员停车环境日益复杂、泊车时安全事故频发的现象，提出了一种基于改进β样条理论而实现自主泊车路径规划方法.建立了泊车运动学模型，综合考虑泊车环境中可能遇到的情况、车辆运动学以及EPS（electric power steering）的性能要求，建立了路径避障约束、车辆转向盘转角及角速度约束.通过Matlab/Simulink搭建泊车仿真模型，根据实际泊车场景，建立了3种工况下的平行泊车模式，并进行了仿真验证.结果表明：提出的泊车路径规划算法能指导车辆完成自主泊车，并最终到达指定的泊车位，且在自主泊车过程中无碰撞发生；提出的基于改进β样条理论规划的路径曲率连续、变化平缓，满足车辆运动学以及EPS的性能要求，泊车效率较高.
Abstract：The parking environment for drivers is now increasingly complex, and parking has become a driving phenomenon with high incidence of accidents. To solve the problem, a method of path planning for autonomous parking was proposed based on improved β-spline theory. The vehicle kinematical model was established, and considering the vehicle kinematics and electric power steering(EPS) performance requirements in parking environment, the path collision avoidance constraints and the vehicle steering wheel angle and angular velocity constraints were established. The simulation model was built by Matlab/Simulink. According to the actual parking scenario, three autonomous parallel parking conditions were designed, and the path planning was simulated. The results show that the proposed algorithm can realize autonomous parking for different sizes of parking lot, and the planned path curvature is continuous with slowly changed curvature. The vehicle kinematics and EPS performance requirements can be met with high parking efficiency.
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2022, Vol. 43 
