| 基于Bezier曲线拟合的自主平行泊车轨迹模型仿真 |
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| 引用本文： | 刘钰,马艳丽,李涛.基于Bezier曲线拟合的自主平行泊车轨迹模型仿真[J].科技导报(北京),2011(11). |
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| 作者姓名： | 刘钰 马艳丽 李涛 |
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| 作者单位： | 河北北方学院信息科学与工程学院;安徽理工大学理学院; |
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| 基金项目： | 教育部高等学校特色专业建设点项目(TS12142) |
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| 摘 要： | 根据阿克曼转向几何学,联系实际泊车情况,首先给出最短泊车空间、泊车起始点范围以及避碰约束空间的生成方法,并在此基础上,考虑动力学约束条件,在直角坐标系Oxy平面中,利用参数化方程,基于Bezier曲线,建立x和y之间动态关系。对每个时间t,依次得到汽车泊车时的具体转向角度和转向半径,得到新的位置点,从而控制汽车沿着Bezier曲线随着时间做变速运动,最终实现连续曲率的轨迹规划。Matlab仿真表明,采用这种方法能够有效地实现避障,在曲线转折点处运动平滑,未出现抖动,满足自主泊车的连续性要求及所需泊车空间尽可能小的目的。
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| 关 键 词： | 阿克曼转向几何学 Bezier曲线 自主泊车 轨迹规划 避碰约束 |
Parallel Parking Path Generation Based on Bezier Curve Fitting |
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| LIU Yu,MA Yanli,LI Tao .College of Information Science , Engineering,Hebei North University,Zhangjiakou ,Hebei Province,China .College of Science,Anhui University of Science , Technology,Huainan ,Anhui Province,China.Parallel Parking Path Generation Based on Bezier Curve Fitting[J].Science & Technology Review,2011(11). |
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| Authors: | LIU Yu MA Yanli LI Tao College of Information Science Engineering Hebei North University Zhangjiakou Hebei Province China College of Science Anhui University of Science Technology Huainan Anhui Province China |
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| Institution: | LIU Yu1,MA Yanli1,LI Tao2 1.College of Information Science and Engineering,Hebei North University,Zhangjiakou 075000,Hebei Province,China 2.College of Science,Anhui University of Science and Technology,Huainan 232001,Anhui Province,China |
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| Abstract: | The autonomous parking system is an intelligent technology to park a car into a small space.Based on Ackermann steering geometry,considering the parking practice,the minimum parking space and the bound of start point and collision-free space are obtained.Then based on Bezier curve,considering the dynamic constraint condition and the parametric equations,the dynamic relationship between x and y is established.For each time point t,followed by a specific steering angle and turning radius,a new location can be... |
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| Keywords: | Ackermann steering geometry Bezier curves autonomous parking trajectory planning collision-free restriction |
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