CAJ | 학술논문

针对不能满足平行泊车要求的狭小车位，提出了单向多次和双向多次路径规划方法。在确定了两种泊车轨迹的变量、碰撞约束函数以及规划目标后，利用matlab软件的非线性约束函数的优化功能求解泊车轨迹方程，并对两种路径规划方法进行仿真试验，结果表明，在相同的泊车环境下，两种路径规划方法都可实现安全顺利的泊车入位；通过实车试验进一步验证了所提出的路径规划方法的安全性和有效性。
침대불능만족평행박차요구적협소차위，제출료단향다차화쌍향다차로경규화방법。재학정료량충박차궤적적변량、팽당약속함수이급규화목표후，이용matlab연건적비선성약속함수적우화공능구해박차궤적방정，병대량충로경규화방법진행방진시험，결과표명，재상동적박차배경하，량충로경규화방법도가실현안전순리적박차입위；통과실차시험진일보험증료소제출적로경규화방법적안전성화유효성。
For the narrow parking space which can not satisfy the requirement of parallel parking, we present two route planning methods: one-way multiple-route planning method and two-way multiple-route planning method. When variables, collision constraint function and planning objective of two parking trajectories are defined, we make use of optimization function of the nonlinear constraint function in MATAB to solve the parking trajectory equation, and these two route planning methods are simulated and tested, which show that , in the same parking environment, both of two route planning methods can make the car park safely with smaller parking length; safety and validity of the presented route planning methods are verified with vehicle test.