Control algorithm of path planning and path tracking for automated valet parking

Abstract

Automated Valet Parking (AVP) can relieve drivers from having to park. It enables vehicles to drive, park and charge fully automatically. This paper focuses on the first working step of the motion planning module, the global path planner. Therefore, a global path planner will be developed and evaluated based on actual research methods. A route will be computed by using an A^* algorithm based on the occupancy grid map. Subsequently, a smoothing operation will follow to obtain a drivable path. By implementing a single polar polynomial function each vertex is smoothened. The resulting global path serves as an input for path tracking. For a reasonable simulation, a vehicle controller with a lock-ahead distance and a node-check will be designed in order to keep the vehicle on the desired path. A simulation of the designed components in CarSim will be carried out to analyze the path tracking and vehicle behavior in detail.