A Trajectory Planing Method Based On Gauss Pseudospectral

To solve the problem that the existing autoparking system can not simultaneously accommodate different types of parking, this paper tried to solve the autoparking based on numerical solution of the optimal control. According to Ackermann steering geometry, vehicle dynamics model, reality parking situation, we develop the mathematical model of the parking trajectory planning. To sovle the parallel parking and vertical parking simultaneously, we develop a parking trajectory planning method based on Gauss pseudospectral,the experiment shows that this method can solve different types of parking simultaneously. To minimize the effect of the disturbance and errors in modeling, we develop a MPC module for our algorithm. The experiment shows that this module can solve the problem caused by disturbance and the modeling errors. Last, we realizes the 3-d simulation of the parking movements.