Trajectory planning of automatic parallel parking with multi constraints based on Matlab
Parking trajectory characteristics were analyzed,and a new trajectory function was proposed based on the known trajectory functions.It was proved that the new function was feasible for trajectory planning by parking trajectory fitting comparison.Potential collision points were analyzed and constraint equations were established accordingly.The orientation constraints at the start point,the location constraint at the parking point and the restriction of vehicle were considered,and the constraint equations were established respectively.Parking trajectory optimization function was presented to minimize the vehicle orientation angle at the parking point with restrictions mentioned above.The approach was used by trajectory planning for general parking space and tight parking space,and the trajectory function was solved using Matlab software.The simulation results show that the car can reverse into parking set safely in general parking space,with the continuously trajectory curvature and the car paralleled with the parking set at the parking point.This approach fails to make the car paralleled with the parking set in tight parking space,but the car can move into parking set safely with the continuous trajectory curvature.It is proved that the approach proposed can find a collision free path in different parking spaces and meet the demand of continuous trajectory curvature,so the problem of shutting down to steer the wheel in parking process is solved.