| 4WS汽车自动泊车轨迹生成策略 |
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| 引用本文： | 黄燕,杨志刚,戚志锦.4WS汽车自动泊车轨迹生成策略[J].汽车实用技术,2012(5):17-22. |
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| 作者姓名： | 黄燕 杨志刚 戚志锦 |
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| 作者单位： | 重庆交通大学机电与汽车工程学院,重庆,400074 |
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| 摘 要： | 针对传统泊车轨迹生成方法中存在两段圆弧曲率并不连续的问题,提出融合微分平坦和B样条理论的轨迹生成策略。首先建立了4WS车辆自动泊车过程中的运动学方程,并由此证明了此系统的微分平坦性,利用B样条理论对平坦输出进行参数化,通过非线性规划器来参数化求解B样条曲线的顶点。
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| 关 键 词： | 四轮转向 自动泊车 微分平坦 B样条 |
Trajectory Planning Strategy of 4WS Vehicle Automatic Parking |
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| Authors: | Huang Yan Yang zhigang QI zhijin |
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| Institution: | (College of Mechatronic and Automobile Engineering, Chongqing Jiaotong University, Chongqing 400074, China) |
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| Abstract: | According to the traditional parking path generation method for the existence of two arc curvature is not a continuous, puts forward the fusion differential fiat and b-spline theory trajectory planning strategy. The article established 4WS vehicle to be automatic parking in the process of the kinematics equations, and demonstrated differential flatness of the system, use b-spline theory to smooth output parameter, by using the nonlinear programming device to parametric solution B spline curve vertices. |
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| Keywords: | Four-wheel steering Automatic parking Differential fiat b-spline |
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