智能驾驶汽车自动泊车轨迹规划仿真分析
Simulation Analysis of Automatic Parking Trajectory Planning for Intelligent Driving Vehicles
罗钿 1张文强 1赵玛龙 1成鑫 1王小勇1
作者信息
- 1. 兰州工业学院 汽车工程学院,甘肃 兰州 730050
- 折叠
摘要
针对智能驾驶辅助系统自动泊车过程路径复杂的问题,依据阿克曼转向理论,建立汽车运动模型,分析泊车约束条件,搭建平行泊车和垂直泊车场景模型,继而进行轨迹的规划,并利用Carism车辆动力学仿真软件联合Simulink进行仿真分析,仿真结果表明,本文设计的泊车路径适合泊车工况,跟踪误差较小.
Abstract
Aiming at the complicated path of automatic parking in intelligent driver assistance system,a vehicle motion model is established based on Ackermann steering theory,analyzes parking constraints,builds parallel and vertical parking scene models,and then makes trajectory planning.Carism vehicle dynamics simulation software and Simulink are used for simulation analysis.The simulation results show that The parking path designed in this paper is suitable for parking conditions and the tracking error is small.
关键词
自动泊车/平行泊车/垂直泊车/Carism/Simlink联合仿真/轨迹规划Key words
automatic parking/parallel parking/vertical parking/Carism/Simlink co-simulation/trajectory planning引用本文复制引用
基金项目
甘肃省科技计划(23JRRA920)
国家级大学生创新创业训练计划(2023)(DC202301-08)
出版年
2024
NETL
NSTL
维普
万方数据