中文摘要：

针对自动泊车过程中由于路径曲率不连续而常常出现的停车原地转向的问题,提出了一种基于车辆速度和方向盘转动角速度的泊车路径生成方法。分析了在车速和方向盘转速为恒值时的车辆轨迹特点即＂双匀速＂轨迹特点。引入了＂过渡半径＂和＂切入半径＂的概念,将双圆弧泊车路径与＂双匀速＂轨迹有机地结合起来,使泊车路径生成算法以及避障算法更为简便,泊车路径的相关参数以及泊车可行域都可以用车辆速度、方向盘转动角速度和车身几何尺寸计算得到。基于预瞄理论建立倒车驾驶员模型,在Carsim里对生成的＂双匀速＂泊车路径进行可行性验证,结果显示：这条由车辆＂双匀速＂轨迹计算得到的路径在车辆非匀速泊车过程中同样有较好效果。由此可知：基于＂双匀速＂的泊车路径生成方法有效地解决了泊车过程中的避障问题,同时满足了路径曲率连续性的要求,从而避免了泊车过程中停车转向的问题。

英文摘要：

In order to solve the problem of shutting down to steer the wheel in parking process because of the discontinuity of path curvature,this paper proposed a path planning algorithm based on vehicle speed and steering wheel angular velocity.The characteristics of vehicle trajectory are analyzed when the vehicle speed and steering wheel speed are constant,that is,the characteristics of the ＂doubleconstant velocity＂ trajectory.It combines the double circular trajectory with the double constant speed trajectory by introducing the concept of ＂transition radius＂ and ＂tangency radius ＂,makes path planning algorithm and collision-free algorithm more convenient.The parameters of the parking path and the feasible parking area can be calculated by the vehicle speed,the steering wheel angular speed and the body geometry.The reversing driver model was built on preview theory.The double constant speed trajectory was verified in Carsim by reversing driver model.Simulation results show good performance in the verification of double constant speed trajectory under non-uniform vehicle speed case.It is proved that the approach proposed can find a collision-free path and meet the key point of continuous trajectory curvature,so the problem of shutting down to steer the wheel in parking process is avoided.