Research On Automatic Parking Path Planning Algorithm

With the increase in the number of automobiles in China,the parking space is getting more and more crowded,the parking problem is getting worse,and the accident rate is getting higher and higher.In order to solve this problem,the automatic parking system came into being.Therefore,this paper studies the automatic parking path planning algorithm under different environmental constraints.Firstly,there are problems such as unreachable targets and local minimum values when applying artificial potential field method to vehicle path planning.The artificial potential field model is improved,and the original gravitational potential field function is multiplied by a convergence factor and original repulsive potential field.The function is multiplied by a distance factor.Based on this model,a "swoke curve method" path planning method was designed to optimize the path.Secondly,according to the problem of narrow spaces and parallel parking difficulties in complex environments,the parallel parking path is studied in sections.The subsection route planning strategy is applied to the path planning of the auxiliary parallel parking.According to the kinematics and environmental constraints of the vehicle,the vehicle path planning problem is expressed.Ultimately,the guided vehicle is guided into the parking space safely from the starting position along the planned parking path,achieving parallel parking in a narrow parking space.Then,for the narrow parking conditions and vertical parking problems in a complex environment.The collision constraint in the vertical parking process was studied and the key points in the vertical parking process were solved.The segmented vertical parking path under different environmental constraints was designed and the simulation verifies the accuracy of the method.Finally,according to the actual parking lot environment,use the scheme designed in this paper to carry out path planning.First of all,the actual parking lot environment is modeled.According to the vehicle kinematics model,comprehensive consideration of obstacle avoidance constraints and automatic parking methods for assisted driving,the driveway Theboundary line is blurred into obstacles,and the path planning is carried out in combination with the "swoke curve method",and parking is carried out using the three-stage vertical parking path planning method to achieve vehicle-safe parking without collision.Through simulation and verification,the automatic parking path planning algorithm designed in this paper can realize safe parking without collision under different environmental constraints.