Obstacle avoidance parking path planning based on 5th order B-spline
[Objective]In order to realize safe parking,this paper investigates the path planning for automatic parking in environments with obstacles.[Methods]A two-step obstacle avoidance path planning method using 5th order B-spline curves was proposed to establish the obstacle avoidance constraint function for the parking environment.Using the control points of the B-spline path curve as the main variables,and ensuring that the vehicle is parallel to the parking space upon completion of parking,a parking path function with multiple nonlinear constraints was established for solving.[Results]Simulation results show that the 5th order B-spline curve-based path planning method effectively generates a parking trajectory that satisfies environmental,obstacle avoidance,and vehicle parameter constraints,enabling path planning in obstacle-filled environments.[Conclusions]The 5th order B-spline curve two-step obstacle avoidance parking path planning method proposed in this paper is suitable for parallel parking and vertical parking,and can effectively plan a feasible obstacle avoidance parking path,and ensure that the vehicle's turning angular speed is continuous during driving,and the vehicle maintains a certain safe distance from obstacles.This method can be applied in many parking scenarios,and has strong theoretical and practical significance.The proposed two-step obstacle avoidance path planning method using 5th order B-spline curves is effective for both parallel and vertical parking.It ensures a feasible path with continuous turning angular speed and maintains a safe distance from obstacles.
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