Trajectory Planning Methods for Bus Autonomous Parking with Vehicle Occupancy in Station
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摘要:
针对公共交通环境下公交车的自动安全停靠问题，考虑与站台几何结构拟合度、站台内有车影响以及行驶连续性等安全约束条件，采用非线性约束优化函数计算连续曲率的进站轨迹，构建了公交车自主停靠轨迹规划模型，分别利用Sigmoid函数、三次样条插值、反正切函数及改进的反正切函数对公交车受前车制约下的停靠轨迹进行仿真分析. 实验结果显示：改进的反正切曲线的平均位差0.41，小于反正切曲线的平均位差0.52，远小于Sigmoid曲线的平均位差1.49、三次样条插值的平均位差1.05. 因此，在停靠站内有车的情况下，利用改进的反正切函数进行公交车自主停靠路径规划优于其他3种方法，其规划的轨迹曲线更加平滑，便于乘客上下车，并提高了车辆的运行效率.
Abstract:For automatic and safe parking of buses in public transportation environment, the safety constraints such as the degree of fitness with the platform geometry, the influence of vehicle occupancy, and the driving continuity are explored. The nonlinear constraint optimization function is used to calculate the continuous curvature of the arrival trajectory. A trajectory planning model for bus autonomous parking is built, and the Sigmoid function, cubic spline interpolation, arc-tangent function and improved arc-tangent function are used to simulate and analyze the parking trajectory of the bus under the restriction of the preceding vehicle. The experimental results show that the average disparity of 0.41 of the improved arc-tangent curve is much smaller than that of Sigmoid curve, cubic spline interpolation, and arc-tangent curve, which are 1.49, 1.051, and 0.52, respectively. Therefore, when there is vehicle occupancy in station, for the path planning of bus autonomous parking, the improved arc-tangent function is better than the other three methods. It has smoother trajectory curve, which is convenient for passengers to get on and off, and improves the vehicle operation efficiency .
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Key words:
- intelligent transportation system /
- bus /
- harbor-shaped bus station /
- autonomous parking /
- path planning
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图 2 站内有车影响情况下可能产生的碰撞
Figure 2. Possible collision under influence of vehicles in station
图 5 前车停靠状态时公交车靠站仿真
Figure 5. Bus stop simulation diagram when preceding vehicle parkes
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