自动泊车发展现状及运动规划研究进展
Review of Automatic Parking and Research Progress of Motion Planning
田杰 1叶青1
作者信息
- 1. 南京林业大学汽车与交通工程学院,南京 210037
- 折叠
摘要
汽车保有量持续上升与城市停车场建设不足间的矛盾引发了严重的停车问题,同时泊车位数量不足、泊车空间狭小等问题严重阻碍了车辆出行任务的完成.自动泊车因其较低的车速以及在特定场景下的高度自动驾驶,成为最先落地的自动驾驶产品.分析了国内外自动泊车市场的发展现状及趋势,重点讨论了泊车系统的规划决策模块.强调了运动规划的重要性,它直接影响车辆行驶质量,综述了国内外的研究成果,包括曲线插值、随机采样、图搜索、智能算法和数值优化方法,并分析了不同路径规划的优势和局限性.最后,展望了未来自动泊车技术的融合和发展方向.
Abstract
The dramatic increase in car ownership,contrasted with the inadequate development of urban parking infrastructure,has led to significant parking challenges.Such challenges,including limited parking spaces and restricted parking areas,severely hinder the efficacy of vehicular travel.Automated parking,distinguished by its low velocity and advanced autonomy in certain environments,emerges as the forefront product in the realm of autonomous driving.The development status and trend of automatic parking market at home and abroad were analyzed,and the planning and decision module of parking system was mainly discussed.The importance of motion planning was emphasized,which directly affects the quality of vehicle driving.The research results at home and abroad were reviewed,including curve interpolation,random sampling,graph search,intelligent algorithm and numerical optimization method.Furthermore,the advantages and limitations of different path planning were analyzed.In conclusion,the future integration and development direction of automatic parking technology were prospected.
关键词
自动驾驶/自动泊车/运动规划/路径规划/轨迹规划Key words
autonomous driving/automated parking/motion planning/path planning/trajectory planning引用本文复制引用
基金项目
江苏省产业前瞻与关键核心技术重点项目(BE2022053-2)
出版年
2024
NETL
NSTL
万方数据