Oblique Parking Path Planning Method Based on Predefined Geometric Set

Abstract

Currently, most automated valet parking systems adopt a predefined geometric set for parking path planning within vertical and parallel parking. The system cannot plan a parking path without covered parking slots, so it has limitations because of the lack of a variety of parking slots. The purpose of this study is to improve the variety of parking slots for a system by designing a path-planning algorithm for oblique parking based on a predefined geometric set. In this study, a "C-like oblique parking path-planning" algorithm was developed; it was designed as a slash tangent to an arc based on geometry, and the oblique parking planning path was characterized through modeling as a polynomial. Second, the constructed parking-path crash constraint model was used to analyze all possibilities of distance constraints between the planning path and the crash point based on geometry to obtain the critical parameter and safety zone. Third, the parking path was generated in a suitable area and spliced to the global planning path by obtaining a suitable interval for the starting point of the parking path based on the information from the topological map and constraints of the C-like oblique parking path planning. Finally, the effectiveness was demonstrated by using MATLAB/Simulink simulation, and the feasibility was verified based on an actual vehicle experiment. The results indicate that this algorithm can effectively plan a crash-free oblique parking path for different types of oblique parking slots, and the results of actual vehicle experiments show that vehicles can be parked precisely in slots. For the automated valet parking system, using a predefined geometric set with the C-like oblique parking path planning can cover most types of parking slots without high calculation costs. Therefore, this algorithm can significantly improve the practicality of automated valet parking systems.