| 非平行初始状态自动泊车轨迹生成方法 |
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| 引用本文： | 朴昌浩,张乐,张艳,黎予生,赵会,禄盛. 非平行初始状态自动泊车轨迹生成方法[J]. 北京理工大学学报, 2014, 34(5): 506-511 |
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| 作者姓名： | 朴昌浩 张乐 张艳 黎予生 赵会 禄盛 |
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| 作者单位： | 重庆邮电大学模式识别及应用研究所,重庆400065;重庆邮电大学模式识别及应用研究所,重庆400065;中国平煤神马集团五矿,河南,平顶山467000;重庆长安汽车股份有限公司,重庆400023 |
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| 基金项目： | 国家重点实验室开放基金资助项目（CSTC2013yykfC60005，CSTC2011BB4145，CSTC2013jcyjj96002）；国家自然科学基金资助项目（11247325） |
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| 摘 要： | 研究车身姿态非平行初始状态下的自动泊车系统轨迹生成方法。 结合车辆运动学模型和融合动力学约束条件，分析泊车过程车辆运动路径；利用图像信息匹配车身初始姿态，最后基于全局规划生成由三段圆弧构成的完整泊车轨迹。 与传统最小半径轨迹生成法进行对比表明非平行初始状态轨迹生成算法具有更强的鲁棒性。 实车试验结果表明，车辆初始姿态角在±15°范围内，6.0 m×2.3 m车位环境下，文中算法泊车成功率达到90%。
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| 关 键 词： | 路径规划 自动泊车系统 车辆运动学模型 轨迹生成 |
| 收稿时间： | 2013-01-22 |
Research on Non-Parallel Initial State Trajectory Generation Method for Automatic Parking System |
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| PIAO Chang-hao,ZHANG Le,ZHANG Yan,LI Yu-sheng,ZHAO Hui and LU Sheng. Research on Non-Parallel Initial State Trajectory Generation Method for Automatic Parking System[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2014, 34(5): 506-511 |
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| Authors: | PIAO Chang-hao ZHANG Le ZHANG Yan LI Yu-sheng ZHAO Hui LU Sheng |
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| Affiliation: | 1.Institute of Pattern Recognition and Application, Chongqing University of Posts and Telecommunications, Chongqing 400065, China2.Institute of Pattern Recognition and Application, Chongqing University of Posts and Telecommunications, Chongqing 400065, China;China Pingmei Shenma Group, Pingdingshan, He'nan 467000, China3.Chongqing Chang'an Automobile Co., Ltd., Chongqing 400023, China |
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| Abstract: | A non-parallel initial state trajectory generation method for automatic parking system was presented. Combining with vehicle kinematics model, the vehicle motion path with kinematics constrains condition was analyzed. The vehicle initial attitude information can be matched with the image information, and the complete parking trajectory composed of 3 tangent arcs was generated based on the overall situation plan. Compared with traditional trajectory generation method, experimental results show its better robustness. The vehicle initial attitude is in the range of ±15°and parking environment is 6.0 m×2.3 m, demo cars experimental results show the parking success rates of the presented method is about 90%. |
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| Keywords: | path planning parking system kinematics model trajectory generation |
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