A Reverse Planning Method of Autonomous Parking Path

The traditional parking path planning method based on geometric curve has the characteristics of simple calculation and high real-time performance, but it needs high requirements for initial parking position. In practical application, when the vehicle deviates from the path, the automatic parking task will be terminated in order to ensure safety and prevent collision. In this paper, an improved method is proposed. Firstly, according to the location of the target point of the parking space, the reverse driving method is used; according to the collision constraints and the minimum parking space constraints, the parking starting area is generated, which solves the problem of high requirements for the parking initial position based on the planning method. Then, the parking area is sampled to generate a smooth parking area based on the method of state space sampling, which can realize the dynamic adjustment of the parking track and solve the problem that the vehicle cannot complete the parking when it deviates from the planned path. Finally, the simulation software is applied to verify the results. The experimental results show that the method is effective.