Article(id=1242121632395886641, tenantId=1146029695717560320, journalId=1146031591421210625, issueId=1242121614955971557, articleNumber=null, orderNo=null, doi=null, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1275321600000, receivedDateStr=2010-06-01, revisedDate=1289491200000, revisedDateStr=2010-11-12, acceptedDate=null, acceptedDateStr=null, onlineDate=1303056000000, onlineDateStr=2011-04-18, pubDate=1303056000000, pubDateStr=2011-04-18, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1303056000000, onlineIssueDateStr=2011-04-18, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1774074474664, creator=sys-migrate, updateTime=1774074474664, updator=sys-migrate, issue=Issue{id=1242121614955971557, tenantId=1146029695717560320, journalId=1146031591421210625, year='2011', volume='29', issue='11-11', pageStart='3', pageEnd='93', issueExtLink='null', onlineDate='null', pubDate='1303056000000', pubDateStr='2011-04-18', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=3, issueType=-1, specialIssue=null, createTime=1774074470507, creator='sys-migrate', updateTime=1774074470507, updator='sys-migrate', preIssue=null, nextIssue=null, articleTotal=null, ext=null, issueFiles=null, downloadFileDto=null}, startPage=59, endPage=61, ext={EN=ArticleExt(id=1242121636825075738, articleId=1242121632395886641, tenantId=1146029695717560320, journalId=1146031591421210625, language=EN, title=Bezier Curve Fitting Based on the Independent Parallel Parking Path Generation, columnId=1242116080374710456, journalTitle=Science & Technology Review, columnName=Articles, runingTitle=null, highlight=null, articleAbstract=The autonomous parking system is an intelligent technology to park a car into a small space. Based on Ackermann steering geometry, considering the parking practice, the minimum parking space and the bound of start point and collision-free space are obtained. Then based on Bezier curve, considering the dynamic constraint condition and the parametric equations, the dynamic relationship between x and y is established. For each time point t, followed by a specific steering angle and turning radius, a new location can be obtained. So a car can be controlled to move along a Bezier curve, and finally the continuous path is generated. At last, the simulation based on Matlab shows that the car can not only avoid the obstacles effectively, but also move smoothly on turning points. So the continuous auto-parking can be realized in a space as small as possible., authors=null, authorsList=null, authorCompany=null, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=3LqILdmGo+tT2kx7Eyp1XQ==, pdfFileSize=962577, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1242121635801665550, articleId=1242121632395886641, tenantId=1146029695717560320, journalId=1146031591421210625, language=CN, title=基于Bezier曲线拟合的自主平行泊车轨迹模型仿真, columnId=1146540929516700224, journalTitle=科技导报, columnName=研究论文, runingTitle=null, highlight=null, articleAbstract=根据阿克曼转向几何学，联系实际泊车情况，首先给出最短泊车空间、泊车起始点范围以及避碰约束空间的生成方法，并在此基础上，考虑动力学约束条件，在直角坐标系Oxy平面中，利用参数化方程，基于Bezier曲线，建立x和y之间动态关系。对每个时间t，依次得到汽车泊车时的具体转向角度和转向半径，得到新的位置点，从而控制汽车沿着Bezier曲线随着时间做变速运动，最终实现连续曲率的轨迹规划。Matlab仿真表明，采用这种方法能够有效地实现避障，在曲线转折点处运动平滑，未出现抖动，满足自主泊车的连续性要求及所需泊车空间尽可能小的目的。, authors=^{刘 钰1，马艳丽1，李 涛2}, authorsList=刘 钰;马艳丽;李 涛, authorCompany=1. 河北北方学院信息科学与工程学院，河北张家口 0750002. 安徽理工大学理学院，安徽淮南 232001, correspAuthors=null, authorNote=null, correspAuthorsNote=刘钰, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=ZdBTWGbspw7XWKsVK0GHZg==, pdfFileSize=962577, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null)}, authors=[Author(id=1278869397276177277, tenantId=1146029695717560320, journalId=null, articleId=1242121632395886641, 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