Automatic parking is a useful ADAS for cars. This paper proposes a path planning method for automatic parking in narrow space. First, a fast A* algorithm solves discrete path points between a given pair of initial and target vehicle positions. Then, a screening of discrete path points obtains “anchor points” oriented for narrow space parking, based on which continuous and smooth trajectories are generated. Simulation experiments demonstrate that the proposed method can effectively perform path planning for narrow space parking under various initial conditions, and outperforms baseline methods in terms of success rate and planning time.
Fast A* Anchor Point based Path Planning for Narrow Space Parking
2021-09-19
1495090 byte
Conference paper
Electronic Resource
English
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