Parking Path Planning Based on Combination of Reeds-Shepp Curve and A-Star Algorithm

To resolve the problems of path curvature mutation and automatic parking path planning in complex scenes, a novel parking path planning method based on the combination of Reeds-Shepp curve and A-Star algorithm is proposed in this paper. To start with, the points from the planned path are selected based on Reeds-Shepp curve, whereby the planned path is segmented and optimized according to the combination of limited information collected by environmental perception system and A-Star algorithm, then the planned path of automatic parking is executed successfully in complex barriers scenarios. Subsequently, the effectiveness of the segmented path is verified with the adoption of MATLAB and real-vehicle test. It can be seen from the results that the path planned based on the combination of Reeds-Shepp curve and A-Star algorithm is proven to provide a smooth path, superior execution, and high security.