An improved RRT algorithm for automatic parking path planning

As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.

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A new geometry-based secondary path planning for automatic parking

International Journal of Advanced Robotic Systems ◽

10.1177/1729881420930575 ◽

2020 ◽

Vol 17 (3) ◽

pp. 172988142093057

Author(s):

Ren-Fang Zhou ◽

Xiao-Feng Liu ◽

Guo-Ping Cai

Keyword(s):

Path Planning ◽

Quadratic Programming ◽

Sequential Quadratic Programming ◽

Programming Algorithm ◽

Optimal Parameters ◽

Automatic Parking ◽

Straight Lines ◽

Fine Tune ◽

Sequential Quadratic Programming Algorithm ◽

Path Tracking Algorithm

In auto-parking systems, a certain degree of error in the path tracking algorithm is inevitable. This is caused by actuator error, tire slipping, or other factors relevant to and included in the parking process. In such situations, the parking path needs to be updated to finish parking successfully which is referred to as secondary path planning. Herein, a new geometry-based method is proposed to deal with this issue, which can be called the pattern-based method. In this method, a predefined path pattern set consisting of 24 multi-segment patterns is developed first. These patterns are composed of straight lines and arcs and account for constraints due to motion and the immediate environment. Then, a traversal policy is adopted to select the path pattern from the set, and the sequential quadratic programming algorithm is used to determine the optimal parameters that fine-tune the pattern to meet the current constraints. In the simulation section, the effectiveness of the proposed method is demonstrated. Moreover, compared to the search-based method represented by a variation of rapidly exploring random tree*, the proposed method has a higher planning performance.

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Research on Path Planning and Tracking Control of Automatic Parking System

World Electric Vehicle Journal ◽

10.3390/wevj13010014 ◽

2022 ◽

Vol 13 (1) ◽

pp. 14

Author(s):

Bingzhan Zhang ◽

Zhiyuan Li ◽

Yaoyao Ni ◽

Yujie Li

Keyword(s):

Path Planning ◽

Predictive Control ◽

Tracking Control ◽

Path Tracking ◽

Preview Control ◽

Laboratory Environment ◽

Incremental Model ◽

Quintic Polynomial ◽

Parking System ◽

Automatic Parking

In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of traditional arc-straight combined curve, a quintic polynomial is used to smooth the path. we design a path tracking controller based on the incremental model predictive control (MPC). The preview control based on pure tracking algorithm is used as the comparison algorithm for path tracking. The feasibility of the controller is verified by building a Simulink/CarSim co-simulation platform. In addition, the practicality of the parking controller is further verified by using the ROS intelligent car in the laboratory environment.

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Path planning for automatic parking based on improved Hybrid A* algorithm

10.1109/cvci54083.2021.9661197 ◽

2021 ◽

Author(s):

Lu Xiong ◽

Jie Gao ◽

Zhiqiang Fu ◽

Kui Xiao

Keyword(s):

Path Planning ◽

A Algorithm ◽

Automatic Parking

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Automatic Parking Path Planning Based on Ant Colony Optimization and the Grid Method

Journal of Sensors ◽

10.1155/2021/8592558 ◽

2021 ◽

Vol 2021 ◽

pp. 1-10

Author(s):

Guo Liang Han

Keyword(s):

Path Planning ◽

Ant Colony Optimization ◽

Shortest Path ◽

Grid Method ◽

Path Tracking ◽

Planning Method ◽

Ant Colony ◽

Planning Problem ◽

Automatic Parking ◽

Vehicle Path

This paper analyzes the path planning problem in the automatic parking process, and studies a path planning method for automatic parking. The grid method and the ant colony optimization are combined to find the shortest path from the parking start point to the end point. The grid method is used to model the parking environment to simulate the actual parking space of automatic parking; then this paper makes some improvements to the basic ant colony optimization, finds the destination by setting the ants’ movement rules in the grid, and finds the shortest path after N iterations; since the optimal path found is a polyline, it will increase the difficulty of controlling vehicle path tracking and affect the accuracy of vehicle path tracking. The bezier curve is used to generate a smooth path suitable for vehicle walking. Finally, through matlab simulation, the obstacles in the environment are simulated, and the parking trajectory is obtained. The results show that the path planning method proposed in this paper is feasible.

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Research on Path Planning of Automatic Parking System

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.590.416 ◽

2012 ◽

Vol 590 ◽

pp. 416-420

Author(s):

Chang Hao Piao ◽

Le Zhang ◽

Sheng Lu ◽

Yu Sheng Li

Keyword(s):

Path Planning ◽

Simulation Analysis ◽

Trajectory Generation ◽

Intelligent Vehicle ◽

Actual Process ◽

Success Rates ◽

Initial State ◽

Parking System ◽

Automatic Parking ◽

Application Fields

A non-parallel initial state path planning algorithm for the automatic parking system is presented in this paper. Automatic parking system is a hot research point in intelligent vehicle application fields, and the trajectory generation is one of its key technologies. In the actual process of parking, the initial state of vehicle is always non-parallel to the parking place, so this situation should be researched to serve automatic parking system better. According to the analysis of vehicle kinematics model and the parking process, the trajectory can be considered as the combination of some sections of tangent arc. In this article, the trajectory is composed of several period of circular arc and it is improved by combining with the actual circumstance, then a strong adaptable parking trajectory for the automatic parking system is designed. The simulation analysis is done to verify the geometry trajectory, and the method is used on our intelligent vehicle to check out the feasibility. Compared with traditional trajectory generation method, experimental results show the adaptability and success rates of the method designed in this paper is much more better, which the parking success rates is about 90%.

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Parking Space Detection and Path Planning Based on VIDAR

Journal of Robotics ◽

10.1155/2021/4943316 ◽

2021 ◽

Vol 2021 ◽

pp. 1-15

Author(s):

Yi Xu ◽

Shanshang Gao ◽

Guoxin Jiang ◽

Xiaotong Gong ◽

Hongxue Li ◽

...

Keyword(s):

Path Planning ◽

Detection Method ◽

Parking Space ◽

Planning Stage ◽

Smooth Curves ◽

Smooth Path ◽

Detection Stage ◽

Parking Space Detection ◽

Automatic Parking ◽

Simulation Results

The existing automatic parking algorithms often neglect the unknown obstacles in the parking environment, which causes a hidden danger to the safety of the automatic parking system. Therefore, this paper proposes parking space detection and path planning based on the VIDAR method (vision-IMU-based detection and range method) to solve the problem. In the parking space detection stage, the generalized obstacles are detected based on VIDAR to determine the obstacle areas, and then parking lines are detected by the Hough transform to determine the empty parking space. Compared with the parking detection method based on YOLO v5, the experimental results demonstrate that the proposed method has higher accuracy in complex parking environments with unknown obstacles. In the path planning stage, the path optimization algorithm of the A ∗ algorithm combined with the Bezier curve is used to generate smooth curves, and the environmental information is updated in real time based on VIDAR. The simulation results show that the method can make the vehicle efficiently avoid the obstacles and generate a smooth path in a dynamic parking environment, which can well meet the safety and stationarity of the parking requirements.

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