Time-optimal trajectory planning for autonomous parking of tractor-semitrailer vehicle based on piecewise Gauss pseudospectral method

For the autonomous parking problem of tractor-semitrailer vehicle, a piecewise Gauss pseudospectral method is proposed as trajectory planning scheme in this paper. Firstly, transformed into an optimal control by establishing vehicle kinematics model for low-velocity scene, dynamic constraints including physical constraints, collision avoidance and endpoint constraints. The are discretized nonlinear programming according to movement area during process. shortest time complete taken objective function. further adopted solve two stages. Three parallel conditions with different lengths spaces three vertical widths set simulation verification based on Matlab/Simulink. results show that can uniformly effectively vehicle. Compared traditional method, shorter significantly higher convergence rate be got which indicates has good effectiveness robustness.