Abstract The paper presents a novel path planning methodology based on the directional graph search and the geometry curve for the Automated Valet Parking (AVP) system. The whole path planning methodology is divided into three parts including the global path planning, the path coordination strategy and the parking path planning. Firstly, the global path planning is triggered to find a path from the parking slot entrance to the rough location of the assigned parking spot. A novel directional Hybrid A* algorithm is proposed to generate the global path efficiently without redundant searches, such as the dead end. Afterwards, the path coordination strategy gives a transitional path to connect the end node of the global path to the parking planning start node. The transitional path is composed of geometry curves including arcs and line segments based on the optimal parking start node. Finally, the parking path planning generates a parking path to guide the vehicle from parking start node to the parking space. A modified C-type vertical parking path planning algorithm is utilized to generate the parking path, offering flexibility for choosing the parking start node. Simulation results based on Matlab and PreScan show that it takes less time for the proposed path planning algorithm to generate a feasible path for the AVP system compared with the general planning algorithm. The novel AVP path planning algorithm also has the potential for practical use.

中文翻译：

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基于方向图搜索和几何曲线的自动代客泊车路径规划方法

摘要 本文提出了一种新的基于方向图搜索和自动代客泊车 (AVP) 系统几何曲线的路径规划方法。整个路径规划方法论分为全局路径规划、路径协调策略和停车路径规划三个部分。首先触发全局路径规划，寻找从停车位入口到指定停车位粗略位置的路径。提出了一种新颖的定向混合 A* 算法来有效地生成全局路径，而无需冗余搜索，例如死胡同。之后，路径协调策略给出了一条过渡路径，将全局路径的末端节点连接到停车规划起始节点。过渡路径由几何曲线组成，包括基于最优停车起始节点的圆弧和线段。最后，停车路径规划生成停车路径，引导车辆从停车起始节点到达停车位。采用改进的C型垂直停车路径规划算法生成停车路径，为停车起始节点的选择提供了灵活性。基于 Matlab 和 PreScan 的仿真结果表明，与一般规划算法相比，所提出的路径规划算法为 AVP 系统生成可行路径所需的时间更少。新颖的 AVP 路径规划算法也具有实际应用的潜力。停车路径规划生成停车路径，引导车辆从停车起始节点到达停车位。采用改进的C型垂直停车路径规划算法生成停车路径，为停车起始节点的选择提供了灵活性。基于 Matlab 和 PreScan 的仿真结果表明，与一般规划算法相比，所提出的路径规划算法为 AVP 系统生成可行路径所需的时间更少。新颖的 AVP 路径规划算法也具有实际应用的潜力。停车路径规划生成停车路径，引导车辆从停车起始节点到达停车位。采用改进的C型垂直停车路径规划算法生成停车路径，为停车起始节点的选择提供了灵活性。基于 Matlab 和 PreScan 的仿真结果表明，与一般规划算法相比，所提出的路径规划算法为 AVP 系统生成可行路径所需的时间更少。新颖的 AVP 路径规划算法也具有实际应用的潜力。基于 Matlab 和 PreScan 的仿真结果表明，与一般规划算法相比，所提出的路径规划算法为 AVP 系统生成可行路径所需的时间更少。新颖的 AVP 路径规划算法也具有实际应用的潜力。基于 Matlab 和 PreScan 的仿真结果表明，与一般规划算法相比，所提出的路径规划算法为 AVP 系统生成可行路径所需的时间更少。新颖的 AVP 路径规划算法也具有实际应用的潜力。