| 自主泊车轨迹规划技术发展现状综述 |
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| 引用本文： | 刘远志,王松,唐辰,熊璐. 自主泊车轨迹规划技术发展现状综述[J]. 汽车工程学报, 2024, 0(3): 321-335 |
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| 作者姓名： | 刘远志 王松 唐辰 熊璐 |
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| 作者单位： | 1. 同济大学;2. 江铃汽车股份有限公司 |
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| 基金项目： | 国家重点研发计划（2022YFE0117100）;;中央高校基本科研业务费专项资金资助; |
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| 摘 要： | 自主代客泊车系统是集智能驾驶环境感知、决策规划、运动控制技术于一体的综合系统,轨迹规划直接关系到代客泊车停车过程的效率、能耗、安全性和舒适性。为梳理自主泊车轨迹规划技术的发展现状,回顾了泊车技术的发展历程,针对泊车过程中单车轨迹规划问题开展调研,分析了面向自主代客泊车轨迹规划研究的进展。鉴于从单车智能到多车协同的转变展现了更大的系统优化潜力,继而梳理了多车协同轨迹规划的基本方法和研究现状,探讨了泊车场景下的协同规划研究进展及特点。对自主代客泊车轨迹规划的现存问题与未来发展趋势进行了分析和展望。
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| 关 键 词： | 自主代客泊车 轨迹规划 速度规划 多车协同规划 |
Review on the Development Status of Autonomous Parking Trajectory Planning Technology |
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| LIU Yuanzhi,WANG Song,TANG Chen,XIONG Lu. Review on the Development Status of Autonomous Parking Trajectory Planning Technology[J]. , 2024, 0(3): 321-335 |
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| Authors: | LIU Yuanzhi WANG Song TANG Chen XIONG Lu |
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| Abstract: | Automated Valet Parking (AVP) system is a comprehensive platform integrating intelligent driving environment perception, decision planning and motion control technologies. Trajectory planning is directly related to the efficiency, energy consumption, safety and comfort of the valet parking process. To outline the development status of autonomous parking trajectory planning technology, this paper first reviews the development history of parking technology, then investigates trajectory planning during parking, and analyzes the progress in AVP research. Recognizing that the transition from single-vehicle intelligence to multi-vehicle cooperation reveals greater potential for system optimization, this study subsequently outlines the fundamental methods and current research status of multi-vehicle cooperative trajectory planning, with a special focus on cooperative planning in parking scenarios. Finally, this paper analyzes existing issues and future development trends in AVP trajectory planning. |
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| Keywords: | automated valet parking trajectory planning speed planning multi-vehicle cooperative planning |
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