Wu, Y.; Li, X.; Gao, J.; Yang, X. Research on Automatic Vertical Parking Path-Planning Algorithms for Narrow Parking Spaces. Electronics2023, 12, 4203.
Wu, Y.; Li, X.; Gao, J.; Yang, X. Research on Automatic Vertical Parking Path-Planning Algorithms for Narrow Parking Spaces. Electronics 2023, 12, 4203.
Wu, Y.; Li, X.; Gao, J.; Yang, X. Research on Automatic Vertical Parking Path-Planning Algorithms for Narrow Parking Spaces. Electronics2023, 12, 4203.
Wu, Y.; Li, X.; Gao, J.; Yang, X. Research on Automatic Vertical Parking Path-Planning Algorithms for Narrow Parking Spaces. Electronics 2023, 12, 4203.
Abstract
The narrow parking space will result in difficulties in path planning and spot turning caused by sudden changes and discontinuities in path curvature. To address the problem, this paper investigates the performance of three path planning algorithms and proposes a path optimization algorithm. First, the narrow parking space is defined based on single-step parking of the arc-line combination parking algorithm. Second, to compare the arc-line combination algorithm, Hybrid A* algorithm, and particle swarm optimization parking algorithm under different narrow parking spaces, a multi-objective evaluation function is proposed, including three evaluation indicators, namely, the path length, the number of positive and negative conversions of vehicle speed, and the smoothness of the path. Their performance is compared by simulation conducted in MATLAB, the results show that the Hybrid A* algorithm is the better than others for narrow parking spaces. Third, to smooth the planning path, a path optimization algorithm based on the cubic B-spline curve and gradient descent is proposed. Finally, the simulation is conducted between the proposed algorithm and Hybrid A* algorithm, the result shows that the proposal can effectively eliminate the curvature mutation point and constrain the path curvature to meet the requirements of a smooth path.
Copyright:
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