Research On Path Planning Algorithm And Structure Design Of Visual Platform In Automatic Parking

Recently, the research of automatic parking technology is focused on in the field ofautomotive electronics. The research of automatic parking technology mainly has threebranches, which are: Path Planning, Sensor Fusion and Signal Display, Vehicle Control.This paper studies two aspects, Path Planning and Image Processing, in this field. Fromthe kinematic equations of the vehicle, this paper models several kinds of path planningalgorithm and iterative path-planning algorithm, which is verified in high-precisionvehicle dynamics simulation software combined with vehicle dynamics constraints,based on the simplified vehicle and environment models. The Visual platform based onthe AM3517evm embedded with Linux is set up laying the foundation for later visualprocessing work.For satisfying the need of the special proceed automatic parking to develop asuitable reversing control strategy, this paper sets up automotive steering systems andvehicle reversing motion models based on simplified vehicle and environment model.From preliminary parking trajectory planning, the trajectory of vehicle rear axle centerpoint is studied based on vehicle kinematics equations with the consideration of non-holonomic constraints in kinematic equations of the vehicle. The shortest parking bayalgorithm and the shortest path algorithm are proposed with the optimization of parkingspaces and parking path. For solving the points of tangency in the models, where thesteering wheel should have saltation, which is impossible to follow in practical car, theparking path algorithm is optimized with the continuous curvature of the curve.Considering several possibilities of collision with obstacles in the parking process, weplan the parking region where the cars can park with no collision based on the proposedalgorithm. And a feasible path-planning approach is presented to meet the requirementthat the parking space is narrow which need park iteratively by improving the shortestpath. And the algorithm is verified in high-precision vehicle dynamics simulationsoftware combined with vehicle dynamics constraints, which shows that the proposed algorithm provides practical solutions for automatic parallel parking problems.The visual platform based on the AM3517evm is set up. Linux kernel is cut to suitthe platform, which is embedded in the AM3517evm. OpenCV is used to processimages and transplanted to the embedded Linux operation system.