Parking path planning of autonomous vehicle based on B-spline curve

Yiding Hua; Zixi Li; Hanbing Wu; Miao Zhang; Hang Sun

doi:10.1117/12.3014949

4 March 2024 Parking path planning of autonomous vehicle based on B-spline curve

Yiding Hua, Zixi Li, Hanbing Wu, Miao Zhang, Hang Sun

Proceedings Volume 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023); 1298153 (2024) https://doi.org/10.1117/12.3014949
Event: 9th International Symposium on Sensors, Mechatronics, and Automation (ISSMAS 2023), 2023, Nanjing, China

Abstract

In the existing research on automatic parking system, because the actual vehicle steering constraints and initial pose conditions are ignored, which affects the actual vehicle tracking reference path effect, this paper proposes a path planning algorithm based on B-spline curve. Firstly, the movement process of the vehicle is studied, and the Kinematics model of the vehicle is established. Secondly, based on the B-spline curve theory, the nonlinear constrained parallel parking path optimization function is established, and the vehicle Kinematics constraints are analyzed. Finally, the rationality of the planned path was verified through joint simulation using Simulink and CarSim.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yiding Hua, Zixi Li, Hanbing Wu, Miao Zhang, and Hang Sun "Parking path planning of autonomous vehicle based on B-spline curve", Proc. SPIE 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023), 1298153 (4 March 2024); https://doi.org/10.1117/12.3014949

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