Automatic parking path planning and tracking control under two-vehicle coordination

Abstract

To improve the safety and efficiency of automated parking, a path planning and tracking control system for automated parking under dual-vehicle coordination is proposed. The Hybrid A* algorithm is modified to consider both the front wheel angle constraints of the vehicle and the collision-free constraints between vehicles while searching for a path. Based on whether cubic spline interpolation is used to smooth the path, the control system is divided into Parking System 1, with unsmoothed paths and Parking System 2, with smoothed paths. The AHP-TOPSIS method is used to calculate the weights of evaluation indicators, and the parking performance of different systems is evaluated based on the normalised system scores. Two application scenarios – vertical parking and parallel parking – were selected, and two operating conditions – two-vehicle cooperative parking in and cooperative parking in and out – were chosen for simulation analysis in PyCharm. The simulation results show that Parking System 2 outperforms Parking System 1 in the aforementioned operating conditions. In the vertical parking scenario, the parking performance of System 2 improved by at least 180.23% in both cooperative parking in and cooperative parking in and out conditions. In the parallel parking scenario, the parking performance improved by at least 181.53% in the cooperative parking-in scenario and by at least 99.04% in the cooperative parking-in and parking-out scenario.