Automatic parking paths planning research based on scattering points six-degree polynomial and easement curve

Abstract

Existing automatic parking path planning methods usually use circular curves and lines. At the junction of parking paths, the curves are not smooth. Based on a low-speed kinematic model of a vehicle, this study redesigned parking paths. Sixth-degree polynomial based on scattering points and easement curve are used in parking path planning. At the junction of two curved segments, the paths are continuous in the original, first-order and second-order equations. Script programming was used in MATLAB to draw the parking paths and the area swept by the vehicle. Parking simulations were conducted using Carsim to demonstrate the parking process. The parallel and vertical parking path simulation results obtained using MATLAB and Carsim showed that the designed parking paths were smooth.