Abstract:

Duplex route was used for strait parking set which was not big enough for car reverse into  safely.Potential collision points were analyzed and variables were selected for parking trajectory and constraint equations were established respectively according to the characteristics of different parking paths.Parking set length minimization function was presented to realize the minimal parking set length and radius maximization function was presented to realize the parking trajectory with the restrictions mentioned above respectively.The two approaches were used in a same parking condition,and the trajectory functions were solved in MATLAB.The simulation results show that the two approaches can park car into parking set safely,but parking set needed for the second method is smaller than that of  the fist method and the second method parks the car into the same parking set more easily than the first method does.

Key words: automatic parking, trajectory planning, collision-free, nonlinear constraint

摘要：

针对不能满足后退式平行泊车要求的狭小车位,提出两种双向平行泊车方式：平移式双向平行泊车、自由式双向平行泊车。根据两种泊车方式车辆轨迹特点,分析泊车过程中存在的可能性碰撞,选择合适的轨迹函数变量,建立碰撞约束函数,以泊车车位尺寸最小化为目标,利用MATLAB软件非线性约束优化功能求解最小车位尺寸,以轨迹半径最大化为目标对某一泊车环境进行泊车轨迹规划。仿真结果表明相同的泊车环境下,两种方法均可实现小车位安全泊车,但相比平移式双向平行泊车,自由式双向平行泊车方法能实现车辆安全进入更小车位；相同泊车环境及车位大小情况下,自由式平行泊车能更轻便地完成泊车。

关键词: 自动泊车, 轨迹规划, 避撞, 非线性约束