中文摘要：

为降低泊车系统操作难度,并提高泊车成功率,提出基于B样条理论的平行泊车路径规划方法。为实现安全泊车,综合考虑平行泊车碰撞情况,建立避障约束函数;为保证泊车路径的可跟踪性,建立车辆方向盘转向角度和转向角速度约束函数;综合车辆停放要求,以B样条路径曲线控制点为变量,以泊车终点处车身方位角最小化为目标,建立了含有多个非线性约束的泊车路径函数。对多个泊车工况进行路径规划,并使用Simulink软件进行路径跟踪仿真。结果表明：基于B样条理论的泊车路径规划方法,可得到曲率连续、变化缓慢的泊车路径,且满足泊车避障约束、方向盘转向角度和转向角速度约束、车辆停放要求;当车速不高于限定值时,车辆可严格沿目标路径行驶,最终完成泊车任务;基于B样条理论的泊车路径设计方法,简化了车辆速度控制,降低了泊车难度,有助于提高泊车成功率。

英文摘要：

In order to lower the parking operative difficulty and improve the parking success rate,apath planning method based on B spline theory was proposed for parallel parking.To achieve safe parking,the collision situation of parallel parking was fully considered and the constraint function for obstacle avoidance was established.In order to guarantee the trackability of parking path,the constraint functions for angle and angular velocity of steering wheel were built.Taking control vertices of B spline path as design variables,and the minimization of the car＇s azimuth angle at the path end as object,parking path function with multi-nonlinear constraints was established under the comprehensive consideration of the requirements for vehicle parking.The method was used to plan parking paths for some parking conditions,and path tracking simulations were made by Simulink software.The results show that the parking path with continuous and moderately changing path curva-ture can be obtained by the parking path planning method based on B spline theory,which satisfies the constrains for parking avoidance,angle and angular velocity of steering wheel and requirements for parking.The predetermined parking path can be strictly followed when travelling by car to finally complete the parking task,as long as its speed is below the limited value.This method simplifies the vehicle velocity control,reduces theparking difficulty and is helpful to improve the success rate of parking.