Research on Obstacle Avoidance and Trajectory Planning Strategy of Automatic Parking System

Abstract

A mathematical model is established according to motion characteristics of vehicles during parking, and an inequality algorithm is established according to obstacle avoidance rules. Its feasibility is verified using MATLAB simulation trajectory planning algorithm. During scene setting, a scene of common longitudinal parking with obstacles parked on the parking trajectory is simulated. The vehicle speed is set to a constant low speed, and the algorithm model is used to control the steering wheel angle at different time points to simulate the trajectory. The simulation result proves that the algorithm is real and effective for the scene set here.