[1]秦东晨,张文灿,王婷婷,等.受限泊车通道下自动驾驶平行泊车的路径规划方法[J].郑州大学学报(工学版),2024,45(05):1-7.[doi:10.13705/j.issn.1671-6833.2024.05.006]
　QIN Dongchen,ZHANG Wencan,WANG Tingting,et al.A Path Planning Method for Parallel Parking in Constrained Parking Channels[J].Journal of Zhengzhou University (Engineering Science),2024,45(05):1-7.[doi:10.13705/j.issn.1671-6833.2024.05.006]
点击复制

受限泊车通道下自动驾驶平行泊车的路径规划方法()
分享到：

《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
45
期数:
2024年05期
页码:
1-7
栏目:
出版日期:
2024-08-08

文章信息/Info

Title:
A Path Planning Method for Parallel Parking in Constrained Parking Channels
文章编号:
1671-6833(2024)05-0001-07
作者:
秦东晨;  张文灿;  王婷婷;  陈江义
郑州大学 机械与动力工程学院,河南 郑州 450001
Author(s):
QIN Dongchen;  ZHANG Wencan;  WANG Tingting;  CHEN Jiangyi
School of Mechanical and Power Engineering, Zhengzhou University, Zhengzhou 450001, China
关键词:
自动泊车;  混合 A∗ 算法;  路径规划;  二次规划;  自动驾驶
Keywords:
automatic parking;  hybrid A∗algorithm;  path planning;  quadratic programming;  autonomous driving
分类号:
TP242. 6
DOI:
10.13705/j.issn.1671-6833.2024.05.006
文献标志码:
A
摘要:
针对受限泊车通道下自动泊车规划时间长、成功率低等问题,提出了一种改进混合 A∗ 算法的路径规划方法。 首先,将泊车路径分为前进的位姿调整段与后退的倒车入库段两部分,通过建立直线-圆弧的约束优化模型规划位姿调整段,寻找合适的倒车起始点;其次,通过在混合 A∗ 算法中额外引入碰撞风险代价,改进节点扩展方式,并通过判断车辆轮廓线是否与障碍物线相交来进行碰撞检测,以提高倒车入库段规划的实时性和安全性;最后,以路径长度、平滑度、偏离度为指标设计目标函数,并考虑汽车的运动学约束,使用二次规划对初始路径进行平滑,得到最终路径。 使用 MATLAB 对改进算法与原始算法进行仿真分析,结果表明:在受限泊车通道下,改进算法能得到平滑的无碰撞泊车路径,搜索时间比混合 A∗ 算法减少了 23. 8%,且所得路径更安全,更易进行跟踪控制。
Abstract:
To solve to the problems of long planning times and low success rates in automatic parking in constrainedparking lanes, a modified approach to path planning was proposed, which could improve the hybrid A∗algorithm.Firstly, the parking path was divided into two parts: a forward pose adjustment segment and a reverse parkingsegment. A linear-arc constrained optimization model was established to plan the pose adjustment segment, whilefinding a suitable starting point for reverse parking. Subsequently, collision risk cost was introduced as anadditional factor in the hybrid A∗algorithm. The node expansion process was improved by checking whether thevehicle contour intersects with obstacle lines, enhancing the real-time performance and safety of the reverse parkingsegment. Finally, a cost function was designed with criteria such as path length, smoothness, and deviation, takinginto account the vehicle′s kinematic constraints. A quadratic programming approach was used to smooth the initialpath, resulting in the final path. Simulation analysis was conducted using MATLAB to compare the modifiedalgorithm with the original algorithm. The results showed that, in constrained parking lanes, the improved algorithmcould produce a smooth, collision-free parking path with a reduced search time of 23. 8% compared with the hybridA∗algorithm. Additionally, the obtained path was safer and more suitable for tracking control.

参考文献/References:

[1] 孙超, 李世杰, 张鹏, 等. 出行系统最优配置下共享停车选择及泊位分配[ J] . 郑州大学学报( 工学版) ,2023, 44(1) : 38-43.

SUN C, LI S J, ZHANG P, et al. Shared parking selection and berth allocation for optimal configuration of travelsystem[ J] . Journal of Zhengzhou University ( Engineering Science) , 2023, 44(1) : 38-43.
[2] 黄江, 魏德奎, 秦良艳, 等. 自动泊车系统路径规划与跟踪 控 制 方 法 研 究 [ J ] . 汽 车 技 术, 2019 ( 8 ) :39-45.
HUANG J, WEI D K, QIN L Y, et al. Research on pathplanning and path tracking control method of automaticparking system [ J] . Automobile Technology, 2019 ( 8) :39-45.
[3] 张家旭, 赵健, 施正堂, 等. 基于回旋曲线的平行泊车路径 规 划 和 跟 踪 控 制 [ J] . 吉 林 大 学 学 报 ( 工 学版) , 2020, 50(6) : 2247-2257.
ZHANG J X, ZHAO J, SHI Z T, et al. Path planningand tracking control for parallel parking based on clothoidcurve[ J] . Journal of Jilin University ( Engineering andTechnology Edition) , 2020, 50(6) : 2247-2257.
[4] 胡杰, 张敏超, 徐文才, 等. 自动驾驶车辆的平行泊车轨迹规划[ J] . 汽车工程, 2022, 44(3) : 330-339.
HU J, ZHANG M C, XU W C, et al. Parallel parkingtrajectory planning for autonomous vehicles[ J] . Automotive Engineering, 2022, 44(3) : 330-339.
[5] 胡杰, 朱令磊, 陈瑞楠, 等. 狭小车位平行泊车路径规划 方 法 研 究 [ J ] . 汽 车 工 程, 2022, 44 ( 7 ) :1040-1048.
HU J, ZHU L L, CHEN R N, et al. Research on parallelparking path planning method for narrow parking space[J].Automotive Engineering, 2022, 44(7) : 1040-1048.
[6] JHANG J, LIAN F L, HAO Y. Human-like motion planning for autonomous parking based on revised bidirectional rapidly-exploring random tree with Reeds-Shepp curve[ J ] . Asian Journal of Control, 2021, 23 ( 3 ) :1146-1160.
[7] 王海芳, 张瑶, 朱亚锟, 等. 基于改进双向 RRT∗ 的移动机器人路径规划算法[ J] . 东北大学学报( 自然科学版) , 2021, 42(8) : 1065-1070, 1142.
WANG H F, ZHANG Y, ZHU Y K, et al. Mobile robotpath planning based on improved bidirectional RRT∗[ J ] . Journal of Northeastern University ( Natural Science) , 2021, 42(8) : 1065-1070, 1142.
[8] TAHIR Z, QURESHI A H, AYAZ Y, et al. Potentiallyguided bidirectionalized RRT∗for fast optimal path planning in cluttered environments[ J] . Robotics and Autonomous Systems, 2018,108:13-27.
[9] 段书用, 王启帆, 韩旭, 等. 具有确保安全距离的 A∗路径优 化 方 法 [ J] . 机 械 工 程 学 报, 2020, 56 ( 18) :205-215.
DUAN S Y, WANG Q F, HAN X, et al. Improved Astar algorithm for safety insured optimal path withsmoothed corner turns [ J] . Journal of Mechanical Engineering, 2020, 56(18) : 205-215.
[10] 曹彦博, 颜京才, 李旭升, 等. 基于改进混合 A∗ 算法的自动泊车系统路径搜索方法[ J] . 汽车技术, 2023(6) : 37-41.
CAO Y B, YAN J C, LI X S, et al. A method of pathsearch for automatic parking system based on improvedhybrid A∗algorithm[ J] . Automobile Technology, 2023(6) : 37-41.
[11] ZHANG S Y, CHEN Y, CHEN S T, et al. Hybrid Abased curvature continuous path planning in complex dynamic environments[C]∥2019 IEEE Intelligent Transportation Systems Conference ( ITSC) . Piscataway: IEEE,2019: 1468-1474.
[12] DOLGOV D, THRUN S, MONTEMERLO M, et al. Pathplanning for autonomous vehicles in unknown semi-structured environments[ J] . International Journal of RoboticsResearch, 2010, 29(5) : 485-501.
[13] 陈翔翔. 基于 Hybrid A∗ 算法的自动泊车路径规划与跟踪控制研究[D] . 西安: 长安大学, 2022.
CHEN X X. Research on Hybrid A∗algorithm path planning and tracking control for automatic parking [ D ] .Xian: Changan University, 2022.

更新日期/Last Update: 2024-09-02