Path Planning for Autonomous Parallel Parking Based on Piecewise Gauss Pseudospectral Method

被引：0
|
作者：
Qian L. [1 ]
Wu B. [1 ]
Qiu D. [1 ]
Hu W. [1 ]
机构：
[1] School of Automobile and Transportation Engineering, Hefei University of Technology, Hefei
来源：
Qiche Gongcheng/Automotive Engineering | 2019年 / 41卷 / 12期
关键词：
Autonomous parking; Optimal control; Path planning; Piecewise Gauss pseudospectral method;
D O I：
10.19562/j.chinasae.qcgc.2019.012.008
中图分类号：
学科分类号：
摘要：
A piecewise Gauss pseudospectral method is proposed as a path planning scheme for autonomous parking in different parking spaces in this paper. Firstly, the path planning problem for autonomous parking is transformed into an optimal control problem by establishing a vehicle kinematics model with dynamics constraints, end-point constraints and path obstacle avoidance constraints applied, and the optimal control problem is discretized into a nonlinear problem by Gauss piecewise pseudospectral method in different parking spaces. Then with minimizing total parking time as the objective, an optimization is conducted on nonlinear problem by using interior point method to obtain the optimal parking path. Next, a simulation model is built with Matlab/Simulink, and five autonomous parallel parking conditions with different lengths of parking slot defined, in which the length of parking slot is 1.1-1.8 times of vehicle length. The results of simulation show that the proposed method can uniformly and effectively solve the problem of path planning for autonomous parking, with a shorter parking time and a significantly higher convergence speed in simulation compared with the traditional pseudospectral method. Finally a real vehicle test is also performed to further verify the effectiveness of the method proposed. © 2019, Society of Automotive Engineers of China. All right reserved.
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页码：1401 / 1409
页数：8
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