Path Planning and Simulation of Long-distance Automatic Parking Based on RRT Algorithm
Parking path planning is an important part of automatic parking technology.This article analyzes the existing parking path planning methods,and proposes path planning based on BRT algorithm for long-distance automatic parking.According to the actual operation,the process of automatic parking was divided into two stages,that is,approaching the parking slot from a long distance and driving into the parking slot.Path planning algorithm that meets the requirements of vehicle motion model and obstacle avoidance was designed based on the reverse RRT algorithm.And simulation experiments were performed in the scenarios of parallel parking,vertical parking,oblique parking(reverse),oblique parking(forward)and parallel parking in the corner.
万方数据
维普
