Abstract
Automatic parking is one of the most landing scenarios in autonomous driving technology. Automatic parking refers to the automatic parking process of cars in parking lots. In this paper, we consider three parking models under vertical, horizontal and bending conditions. We first establish physical models according to different conditions, introducing A* search algorithm is d as the optimal path selection algorithm for practical cases. We also set up a constrained optimization problem for the situation of car occupancy in the garage. By solving this constraint, we can efficiently calculate the optimal parking path to avoid the situation of car occupancy.
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