Study on Panoramic Parking Path Planning of Vehicle Based on DMPR-PS and Hybrid A-Star

To resolve the issue of poor generality of current parking methods based on idle space, a panoramic parking path planning method based on DMPR-PS and Hybrid A-Star is proposed. In this paper, a pure vision approach is adopted, and a fisheye camera is selected as an image acquisition device to build panoramic parking assistance system. Subsequently, the parking slot directional marking points are obtained through DMPR-PS model, and the valid entrance line can be also acquired to recognize parking slot. The accuracy of parking slots recognition can reach 96.86%.Eventually, the planned path can be achieved based on the Hybrid A-Star algorithm where vehicle kinematics and obstacle avoidance constraints are considered. The effectiveness of the planned path can be verified with the adoption of MATLAB and real-vehicle test. The results indicate that the vehicle can be guided to complete remote parking accurately by employing the proposed method, and the method proves to be equipped with strong robustness, high accuracy, fast detection speed, continuous and smooth parking path.