中文摘要：

研究车身姿态非平行初始状态下的自动泊车系统轨迹生成方法.结合车辆运动学模型和融合动力学约束条件,分析泊车过程车辆运动路径;利用图像信息匹配车身初始姿态,最后基于全局规划生成由三段圆弧构成的完整泊车轨迹.与传统最小半径轨迹生成法进行对比表明非平行初始状态轨迹生成算法具有更强的鲁棒性.实车试验结果表明,车辆初始姿态角在±15°范围内,6.0 m×2.3 m车位环境下,文中算法泊车成功率达到90%.

英文摘要：

A non-parallel initial state trajectory generation method for automatic parking system was presented.Combining with vehicle kinematics model,the vehicle motion path with kinematics constrains condition was analyzed.The vehicle initial attitude information can be matched with the image information,and the complete parking trajectory composed of 3 tangent arcs was generated based on the overall situation plan.Compared with traditional trajectory generation method,experimental results show its better robustness.The vehicle initial attitude is in the range of ±15°and parking environment is 6.0 mX2.3 m,demo cars experimental results show the parking success rates of the presented method is about 90%.