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An efficient path planning methodology based on the starting region selection
ISSN: 0148-7191, e-ISSN: 2688-3627
To be published on April 14, 2020 by SAE International in United States
Automated parking is an efficient way to solve parking difficulties. Path planning is of great concern for parking maneuvers. Meanwhile, the starting points of path planning greatly affect the process and efficiency of parking. The present research of the region of the starting points are mostly determined based on a single algorithm, which limits the flexibility and efficiency of planning feasible paths. This paper, taking parallel parking and vertical parking for example, proposes a method to calculate the region of the starting points and select the most suitable path planning algorithm for parking, which can improve the parking efficiency and reduce the complexity. The collision situations of each path planning algorithm are analyzed under collision-free conditions based on parallel and vertical parking. The region of the starting points for each algorithm can then be calculated under collision-free conditions. After that, applicable starting regions for parking can be obtained, and each of those regions corresponds to a parking path planning algorithm. However, there always exists overlapping starting regions, which can be applied to multiple parking path planning algorithms. In order to select the most suitable algorithm to plan the parking path, the priority order of algorithms is decided using normalized efficiency as the criterion. The collision-free parking path can be generated following the priority order. Based on the modified β-spline curves, a continuous-curvature path is presented. The simulation results based on MATLAB/Simulink and PreScan have shown that the methodology can smoothly judge the feasibility of automated parking in the current region and plan the most suitable parking path. The proposed methodology can calculate the starting region of automated parking rapidly and plan more efficient parking path compared with other methods.