摘要
为有效降低平行泊车入位过程中对车位长度的要求,对车辆多次泊车的入位状态和在车位内多次移动的运动规律进行了分析,以泊车位长度为基准构建泊车模型,利用迭代算法确定车辆出库时的车身姿态角,根据车辆参数和车位左前方障碍点的约束条件验证了出库过程的合理性。运用Matlab对一次和多次泊车入位过程进行了仿真,结果表明:在同等条件下,与一次泊车入位相比,多次泊车入位对车位长度的要求大幅降低。
In order to reduce demand for parking space length in the process of parallel parking, in this paper, the vehicle＇s status of multiple parking in place and the motion law of multiple movements in parking space are analyzed. A parking model is built based on the parking space length, the attitude angle of vehicles driving out of place is determined through iterative algorithm, and the rationality of the process vehicle driving out of place is verified according to vehicle parameters and constraint conditions of front left obstacle point of parking space. Single and multiple parking in place are simulated with Matlab, the result shows that： compared with single parking in place, the demand of parking space length is reduced greatly in multiple parking in place in the same conditions.
出处
《汽车技术》
北大核心
2016年第10期11-16,共6页
Automobile Technology
关键词
路径规划
迭代算法
约束条件
车位长度
Path planning
Iterative algorithm
Constraint conditions
Parking space length
