基于五次多项式的4WS平行泊车路径规划OA

For narrow parallel parking,a path planning method based on a quintic polynomial for four-wheel steering(4WS)was proposed.A low-speed kinematic model was established,and the safe initial feasible region was defined(with a longitudinal lower limit of 1.65 m and an upper limit of 2.67 m).Simulation results showed that the trajectory curvature was continuous and obstacle avoidance was effective;however,when starting from extremely short distances,meeting the pose constraints caused the peak curvature to exceed the vehicle's allowable limit(0.316 3 m-1).Therefore,parking space planning must be deeply coupled with kinematic limits.