Parallel Parking Trajectory Planning for Autonomous Vehicles

被引：0
|
作者：
Hu J. [1 ,2 ,3 ]
Zhang M. [1 ,2 ,3 ]
Xu W. [1 ,2 ,3 ]
Chen R. [1 ,2 ,3 ]
Zhong X. [1 ,2 ,3 ]
Zhu L. [1 ,2 ,3 ]
机构：
[1] Wuhan University of Technology, Hubei Key Laboratory of Modern Auto Parts Technology, Wuhan
[2] Wuhan University of Technology, Auto Parts Technology Hubei Collaborative Innovation Center, Wuhan
[3] Hubei Technology Research Center of New Energy and Intelligent Connected Vehicle Engineering, Wuhan
来源：
Qiche Gongcheng/Automotive Engineering | 2022年 / 44卷 / 03期
关键词：
Autonomous driving; Orderly-sampling-based planning; Parallel parking; Trajectory planning;
D O I：
10.19562/j.chinasae.qcgc.2022.03.004
中图分类号：
学科分类号：
摘要：
Based the analysis on the parallel parking scenes of autonomous vehicles, a parallel parking trajectory planning method based on sampling is proposed, which decouples the parallel parking trajectory planning of autonomous vehicles into path planning and speed planning. By sampling the parking starting point region, a series of parking path curves with continuous curvature and meeting the path constraint are generated, and the optimal parking path is selected by using multi-objective evaluation function. Then on the basis of the optimal parking path, the S-t curve with the shortest selecting time and meeting the constraint is selected by time sampling to generate the trajectory. Finally, simulation and real vehicle test verify the feasibility and effectiveness of the method proposed and the parallel parking of autonomous vehicles is successfully realized. © 2022, Society of Automotive Engineers of China. All right reserved.
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收藏
页码：330 / 339
页数：9
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