| 基于反向差分进化算法优化的平行泊车路径规划 |
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| 引用本文：徐茜茜，张美琪，郑竹安，孙博文，唐浩.基于反向差分进化算法优化的平行泊车路径规划[J].计算技术与自动化,2026,(1):139-144 |
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| 中文摘要:为了提高平行泊车的效率、平稳性及乘坐舒适性，提出了基于反向差分进化算法优化的平行泊车路径规划方法。首先，综合考虑车辆位姿约束、边界避障约束和车辆性能约束，采用五次多项式规划了初始泊车路径。其次，针对初始路径无法兼顾曲率和长度的问题，以路径最大曲率和泊车始末位置之间的距离的加权和为适应度函数，利用反向差分进化算法对泊车初始位置坐标进行优化。最后，通过仿真实验对优化前后的路径进行仿真分析，并与差分进化算法优化后的路径进行对比。结果表明，此方法优化后的泊车路径使得车辆的停车姿态更理想、占用的行车道更小、能更好地平衡泊车曲率和泊车长度二者之间的关系，兼顾泊车舒适度及泊车效率。 |
| 中文关键词:自动泊车 平行泊车 路径优化 反向差分进化算法 五次多项式 |
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| Optimized Parallel Parking Path Planning Based on Opposition Differential Evolution Algorithm |
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| Abstract:In order to improve the efficiency and smoothness of parallel parking and the comfort of the driver and passengers during the parking process, an optimized parallel parking path planning method based on the opposition-based differential evolution algorithm is proposed. Firstly, the initial parking path is planned with a fifth degree polynomial by comprehensively considering the vehicle position constraints, boundary obstacle avoidance constraints and vehicle performance constraints. Secondly, for the problem that the initial path cannot balance the curvature and length, taking the weighted sum of both the maximum curvature of the path and the distance between the start and end positions of the parking as the fitness function, then the coordinates of the initial parking position are optimized using the opposition-based differential evolution algorithm.Finally, simulation experiments are conducted to simulate and analyze the paths before and after optimization and compare them with the paths optimized by the differential evolution algorithm. The results show that the optimized parking path makes the parking posture of the vehicle more ideal, occupies a smaller driving lane, and can better balance the relationship between the path curvature and path length, taking into account both the parking comfort and parking efficiency. |
| keywords:automatic parking parallel parking path optimization opposition-based differential evolution algorithm fifth degree polynomial |
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