| 基于动态窗口和绕墙走的自动垂直泊车轨迹规划 |
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| 引用本文： | 郭奕璀,蒋涛,张葛祥.基于动态窗口和绕墙走的自动垂直泊车轨迹规划[J].交通信息与安全,2017,35(1):92-97. |
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| 作者姓名： | 郭奕璀 蒋涛 张葛祥 |
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| 作者单位： | 西南交通大学电气工程学院 成都 610031 |
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| 基金项目： | 四川省科技支撑计划项目国家自然科学基金项目 |
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| 摘 要： | 针对现有自动垂直泊车轨迹规划因需要轨迹数学模型而灵活性差和采用开环离线规划而无法动态调整路径的问题,提出一种基于动态窗口和绕墙走策略的垂直泊车轨迹规划方法.将轨迹规划问题解耦为与时间无关的路径规划和与时间相关的速度规划,并在分析车辆阿克曼转向特性的基础上,通过绕墙走策略实现无先验轨迹模型的路径规划.同时将绕墙走路径作为全局启发信息,用于驱动基于模型预测控制的动态窗口法进行速度规划,其反馈优化特点能够对路径进行局部动态调整.仿真实验结果表明,该方法能够在控制、定位精度0.2 m的情况下,安全有效地完成车辆垂直泊车,且能动态地对车辆路线进行局部调整.
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| 关 键 词： | 智能驾驶 自动泊车 轨迹规划 垂直泊车 绕墙走策略 动态窗口法 |
Trajectory Planning for Automatic Vertical Parking Based on Dynamic Window and Wall Following Approach |
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| Abstract: | Existing methods of traj ectory planning for automatic vertical parking are lack of flexibility.This is due to the fact that the existing mathematical models for traj ectory planning cannot adj ust the paths dynamically because of open-loop and off-line planning.Therefore,a method for traj ectory planning of automatic vertical parking based on dy-namic window and wall following approach is developed.The traj ectory planning problem is first decomposed into a time-free path planning process and a time-related velocity planning process.Then,a wall following strategy is introduced to a-chieve traj ectory planning without a priori traj ectory model,based on an analysis of the Ackermann steering characteris-tics of vehicles.Meanwhile,the wall-following path is used as global heuristic guidance for propelling the dynamic window for speed planning.The feedback and optimization of two processes will dynamically adj ust path planning in each step. The results of a simulation experiment shows that the introduced method can faciliate safe and effective parking,and is capable to make local adjustments dynamically,under an observed accuracy of controlling and location within 0.2 m. |
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