An Online Curvature Continuous Parking Path Planning Method for Arbitrary Starting Posture

Abstract:

An online curvature continuous parking path planning method that has no requirement on parking initial posture is proposed to balance the accuracy of parking final posture， path quality， and computation efficiency. The entire path planning process is divided into two parts. An optimization-based approach is used within the parking lot for piecewise planning to improve the accuracy of final posture and reduce the number of adjustments. An adapted hybrid A* algorithm that expands the state node with curvature continuous curve groups is used when reversing into the parking lot， which skips post-process and improves computation efficiency. In the proposed adapted hybrid A* algorithm， a cost function taking into account the path curvature changes and the number of direction changes is designed， and a collision detection method using feature polygon constructed by path geometry feature points is proposed to improve the computation efficiency. Simulations and real vehicle test verifies the effectiveness of the proposed method.

Key words:autonomous parking;path planning;curvature continuous path;hybrid A* algorithm