- ISSN 0258-2724
- CN 51-1277/U
- EI Compendex
- Scopus
- Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
- Chinese S&T Journal Citation Reports
- Chinese Science Citation Database
| Citation: | MA Qinglu, FU Binglin, FENG Min. Trajectory Planning Methods for Bus Autonomous Parking with Vehicle Occupancy in Station[J]. Journal of Southwest Jiaotong University, 2022, 57(1): 74-82. doi: 10.3969/j.issn.0258-2724.20200628
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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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