Research On Automatic Parking Trajectory Planning And Related Technology Based On Forward Baseline

Automatic parking technology is playing an increasingly important role in today's life.It can alleviate driver's parking pressure,improve parking accuracy and reduce parking accidents,especially in urban areas with more tight parking spaces.The parking space can be moored faster and better,and the parking efficiency can be improved.In order to improve the car's auto-park capability,a pose judgment method of auto-parking system is designed with virtual parking frame based on rear camera.The method improves the response speed to the camera based on the common photographing mode.And the coordinate transformation relationship is studied between the display point and the real point in the central display screen.The method of manually adjusting the camera is designed.The information of the empty parking space is captured using the principle of near big and far small,and the influence of the angle parameter of the camera is studied on the pose and posture relationship between the car and the parking space.In order to avoid the dead zone of parking in the process of automatic parking,a route to automatically move to the forward baseline is designed.The function and selection of the forward baseline are discussed to determine the path demand of automatic forward driving by geometry characteristics to calculate the forward path equation.If the car is within the parking dead zone in the initial stage,the car will automatically move forward to the corrected position according to the determined forward path and enter the forward baseline to avoid the parking dead zone.In order to reduce the number of continuous corrections during parking,it is designed to be parked into the parking space by advancing the reference line and ensuring that the parking path passes through the entry baseline.Through the determination of several fixed-point coordinates that have to be passed,interpolation spline theory and geometric mathematics are used to determine the parking path and function of the vehicle outside the parking space,and the uniqueness of the function reduces the number of parking spaces in the automatic parking process.The system continuously carries out the calculation of feedback and correction.Carsim and Matlab software are used to simulate the parking process and the trajectories are plotted.The results show that this method can control the automatic vehicle to move to the non-parking dead zone and reduce the parking space required for parking.The model test vehicle is used to verify the pose and position and parking trajectory,and the correctness of the method proposed is proved in this paper.