基于CC曲线的平行泊车路径规划

来源 :2017年世界交通运输大会 | 被引量 : 0次 | 上传用户:sxx1203
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  针对智能车辆自动泊车系统的发展现状,为解决目前泊车路径规划曲率不连续,导致泊车过程停车转向的问题,提出一种连续曲率的平行泊车路径规划方案。对泊车过程进行分析,考虑汽车约束条件,建立了自动泊车运动学模型,根据曲率连续的要求采用了CC 曲线对泊车路径进行平滑化处理,并针对实际泊车中出现的泊车位不规则情况,提出了一种根据斜率进行路径选择的判定方法。仿真和实验结果均表明,采用这种方法能够有效的满足曲率连续性的要求,并且能够应对智能车辆位姿不规则的复杂情况,提高了自动泊车的灵活性和实用性。
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