自动泊车的运动轨迹规划
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摘要
为了解决反正切函数进行平行泊车轨迹规划时未考虑泊车速度变化及转向盘转角方向变化速度过快而产生的误差,提出了基于Clothoid曲线与圆弧相结合的方法来规划泊车轨迹。介绍了基于Clothoid曲线与圆弧规划轨迹的详细过程。首先建立需要的Clothoid曲线的数学模型,在MATLAB中验证模型的可行性,确定车位尺寸极限值。其次在MATLAB中创建泊车环境,对初始航向角为零的情况规划泊车轨迹,对车身的整个泊车过程进行仿真。仿真结果表明:基于Clothoid曲线与圆弧相结合的方法,可以满足无碰撞泊车的要求。
In order to solve the error of the parallel parking trajectory planning without considering the change of parking speed and the speed of the steering wheel rotation angle, the method based on the clothoid curve and arc is proposed to plan the parking trajectory. This paper introduces the specific process of the trajectory of clothoid curve and circular arc. First, establish the mathematical model of the clothoid curve, verify the feasibility of the model in MATLAB, and determine the parking space size.Second, the parking environment is created in MATLAB, the parking trajectory is planned to the situation of zero direction angle, and the whole parking process of the body is simulated. The simulation results show that the method based on clothoid curve and arc can meet the requirements of collision-free parking.
In order to solve the error of the parallel parking trajectory planning without considering the change of parking speed and the speed of the steering wheel rotation angle, the method based on the clothoid curve and arc is proposed to plan the parking trajectory. This paper introduces the specific process of the trajectory of clothoid curve and circular arc. First, establish the mathematical model of the clothoid curve, verify the feasibility of the model in MATLAB, and determine the parking space size.Second, the parking environment is created in MATLAB, the parking trajectory is planned to the situation of zero direction angle, and the whole parking process of the body is simulated. The simulation results show that the method based on clothoid curve and arc can meet the requirements of collision-free parking.
引文
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[3]王芳成.自动平行泊车系统的研究[D].合肥:中国科学技术大学,2010.
[4]杨昔阳,尤晴曦,李洪兴.基于变论域理论的自动倒车控制[J].北京师范大学学报:自然科学版,2005(4):348-350.
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[7]Lo Y K,Ra D A B,Wong C W,Ho M L.Automatic parallel parking[J].The Proceeding of the 2003 IEEE International Conference on Intelligent Transportation System.2003.
[8]Hsu Tsung-hua,Liu Jing-Fu.Development of an automatic parking system for vehicle[J].IEEE Vehicle Power and Propulsion Conference,2008.
[9]张德丰.MATLAB/Simulink建模与仿真[M].北京:电子工业出版社,2009.
[2]尚世亮.自动平行泊车车位超声探测与转向控制算法研究[D].长春:吉林大学汽车工程学院,2009.
[3]王芳成.自动平行泊车系统的研究[D].合肥:中国科学技术大学,2010.
[4]杨昔阳,尤晴曦,李洪兴.基于变论域理论的自动倒车控制[J].北京师范大学学报:自然科学版,2005(4):348-350.
[5]于伟,张乃尧,白帆.倒车问题的模糊优化控制方案[J].机电一体化,2001(5):21-24.
[6]魏立梅,谢维信.模糊联想记忆系统规则提取的新方法[J].西安电子科技大学学报,1999(4):60-64.
[7]Lo Y K,Ra D A B,Wong C W,Ho M L.Automatic parallel parking[J].The Proceeding of the 2003 IEEE International Conference on Intelligent Transportation System.2003.
[8]Hsu Tsung-hua,Liu Jing-Fu.Development of an automatic parking system for vehicle[J].IEEE Vehicle Power and Propulsion Conference,2008.
[9]张德丰.MATLAB/Simulink建模与仿真[M].北京:电子工业出版社,2009.