基于伪谱法的自主泊车路径规划方法

摘要

目前对泊车方法的相关研究仅适用于平行泊车和垂直泊车中的一种泊车场景.为此,提出通用性的自主泊车路径规划方法.该方法融合车辆运动学约束和路径约束,以泊车时间为性能指标,建立泊车路径规划最优控制问题的数学模型.使用伪谱法求解该最优控制问题,并以细化网格的方式保证所得解符合路径约束,得到无碰撞可行泊车路径.利用该方法可同时求解平行泊车和垂直泊车两种场景的路径规划,仿真实验和实车实验验证了该方法的通用性和可行性.%Current related researches on parking methods are suitable for parallel parking scenario and vertical parking scenario.So,a general autonomous parking path planning scheme is proposed.The scheme takes the parking time as performance index,and formulates a time-optimal control problem of parking path planning with the vehicle kinematic constraint and path constraint.The pseudospectral method is used to solve the optimal control problem,and the obtained solution is guaranteed to be consistent with the path constraint by grid refining,so as to obtain the collision-free feasible parking path.Path planning in parallel parking scenario and vertical parking scenario are solved.Simulation experiment and real vehicle experiment verify the generality and feasibility of the scheme.