基于B样条理论的平行泊车路径规划研究

针对智能汽车自动泊车系统的发展现状进行了分析，为解决泊车过程停车转向问题，提出一种连续曲率的平行泊车路径规划方案。对泊车环境进行分析，考虑汽车动力学约束条件，建立了自动泊车路径的约束空间，并根据对泊车路径的要求，在约束空间内生成合适的控制点，基于B样条理论生成可行的泊车路径。仿真结果表明，采用这种方法能够有效地实现避障，并且满足曲率连续性的要求，提高了自动泊车的灵活胜和连贯性。

Layout research of parallel parking path based on B spline theory

Aim at the development current status of intelligent automatic parking system,m order to solve vehicle stop steering issue in parking process,put forward a kind of layout scheme for curvature continuity parallel parking path,analyse the parking environment,consider the constraint condition of automotive dynamics,Set up constraint space of automatic parking path,according to the requirement of parking path, generate suitable control point in constraint space,generate feasible parking path based on B spline theory.The simulation result shows,using this method can effectively realizeAvoid obstacle,and meet the requirement of curvature continuity, improve the flexibility and consistency of automatic parking.