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

doi:10.11908/j.issn.0253-374x.22717

Home > Archive>Volume 49, Issue S1, 2021 >114-122. DOI:10.11908/j.issn.0253-374x.22717

An Online Curvature Continuous Parking Path Planning Method for Arbitrary Starting Posture
DOI:
                        10.11908/j.issn.0253-374x.22717
                    
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                        LIU MeicengLIU Meiceng
School of Automotive Studies， Tongji University， Shanghai， 201804， China
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CHEN HuiCHEN Hui
School of Automotive Studies， Tongji University， Shanghai， 201804， China
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ZHANG ShukaiZHANG Shukai
School of Automotive Studies， Tongji University， Shanghai， 201804， China
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Affiliation:School of Automotive Studies， Tongji University， Shanghai， 201804， China
Clc Number:U461
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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

Reference

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LIU Meiceng, CHEN Hui, ZHANG Shukai. An Online Curvature Continuous Parking Path Planning Method for Arbitrary Starting Posture[J].同济大学学报(自然科学版),2021,49(S1):114~122

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Received:August 16,2021
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Online: February 28,2023
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