With the rapid development of the Internet industry and the great increase in the popularity of vehicles, the "Internet plus product" has become a new type of business. In large cities with limited parking space or parking lots with crowded vehicles, intelligent parking is a more practical function, which reduces the difficulty for drivers to drive into a narrow space. However, due to the immature technology, the utilization rate has been low. Therefore, in order to improve product utilization and facilitate parking, intelligent parking has become a research hotspot. Through the establishment of mathematical models and the utilization of algorithms, intelligent parking can accurately plan parking paths to prevent losses caused by vehicle scratches. Simultaneously utilizing the function of intelligent parking, it reduces traffic accidents caused by improper operation during the parking process, providing convenience and safe parking guarantee for drivers. This article conducts relevant research on path planning for the intelligent parking problem of autonomous vehicles. Establish a mathematical model based on the Ackermann structural steering, analyze the rate of change limit of curvature relative to the length of the path, and gradually analyze the vertical and parallel parking path modes. Establish a parking planning coordinate system based on the characteristics of vertical and parallel parking conditions. For parallel parking: By establishing a parking model for parallel parking, analyze the path of parallel parking and plan the parking speed, obtain a speed time relationship curve, and then plan the parallel parking path; For vertical parking: Analyze the vertical parking status and establish a model. By using the midpoint of the vehicle's rear axle as a reference point, derive the kinematic model of a four-wheel steering vehicle and calculate the ${\left({{X_r} - {X_o}}\right)^2} + {\left({{Y_r} + Lcot(\delta ) - {Y_o}}\right)^2} = {\left({Lcot(\delta )}\right)^2}$ vertical parking trajectory equation, thereby planning the vertical parking path.


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    Title :

    Intelligent Parking Path Planning Based on Ackermann Steering


    Contributors:
    Liu, Jiahao (author) / Liu, Yutong (author) / Han, Yanshun (author) / Sui, Haoyi (author) / Zhou, Yuhan (author)


    Publication date :

    2023-12-16


    Size :

    579560 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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