Research on optimal parking trajectory based on parking planning model

Abstract

This paper mainly deals with the planning problem of unmanned vehicle parking path in parking lot. For each different parking problem and different parking constraints, a suitable parking model is established in this paper. First of all, the Akman turned to the geometric model, and the original four -wheel car model was equivalent to a two -wheeled bicycle model, so that the two different corners of the front wheels were equivalent to a corner 6.462m. In the solution to the shortest distance, this article first establishes the shortest distance model of accelerating to the same maximum speed under any condition. The shortest distance required to solve the maximum limit of 20km/h is 5.561m. Lately, the vehicle motion equation model was established, and the change rate of the maximum curvature relative path length was 1.140m-2. Aiming at problem 2: First, the turning process in parking is analyzed, and the minimum turning radius when the control point is located at the axisymmetric center of the rear wheel is recalculated to be 4.974m, which is used in the subsequent parking path planning. Finally, using the above analysis of the motion situation of the unmanned vehicle and the planning of the parking trajectory, the parking trajectory in each case and the relationship between the changes of each physical quantity over time are given.