摘 要：针对电动城市客车在复杂城市环境下的自动泊车需求，本文提出一种融合车联网(V2X)信息的路径规划与跟踪控制系统。该系统通过接收并整合多元感知数据，构建结构化的特征向量组，为决策控制提供标准化的信息输入。系统创新性地计算出时空资源竞争度与换乘紧迫系数，并据此构建多车协同决策组，实现智能化调度。路径跟踪层则采用分层控制架构。研究表明，该系统能有效提升泊车过程的协同性、安全性与舒适性，为电动客车的智能化运营提供了关键技术支持。
关键词：电动城市客车；自动泊车系统；路径规划；跟踪控制；V2X
中图分类号：U469.72；TP273 文献标志码：A DOI：10.15917/j.cnki.1006-3331.2026.02.001
Analysis of Path Planning and Tracking Control for an Automatic Parking System of Electric City Buses
ZHANG Zejun
Abstract: To address the automatic parking requirements of electric city buses in complex urban environments,this paper proposes an integrated path planning and tracking control system that utilizes V2X information.The system receives and integrates multi-dimensional perception data to construct a structured feature vector set,providing standardized information input for decision-making and control.It innovatively calculates the spatio-temporal resource competition degree and transfer urgency coefficient to establish a multi-vehicle collaborative decision-making group for intelligent scheduling.The path tracking layer adopts a hierarchical control architecture.The research results indicate that this system effectively enhances the co-ordination,safety,and comfort of the parking process,providing key technical support for the intelligent operation of electric city buses.
Key words: electric city bus; automatic parking systems; path planning;tracking control; V2X
