Abstract
Abstract The issue of autonomous parking for self-driving vehicles is a critical problem in autonomous driving. With the rapid development of the automotive industry and the increasing number of vehicles, the issues of traffic congestion and parking space shortage have become more prominent, further exacerbating the difficulty of parking. Therefore, there is a growing demand for automatic parking functions. This paper focuses on the problem of self-driving vehicles automatically parking in complex conditions without colliding with other self-driving vehicles and obstacles. The main content includes establishing a vehicle parking kinematic model and solving the minimum turning radius based on the Ackermann vehicle model data. When the self-driving vehicle travels in a straight line, a route from the initial position to the parking space is designed, and an automatic parking model is established. The mathematical model is used to solve the self-driving vehicle’s starting position and end position, as well as the trajectory of the self-driving vehicle, and MATLAB is used to simulate and visualize the parking trajectory. The aim is to solve the problem of parking difficulties caused by factors such as insufficient parking spaces and congested parking scenes. To ensure the safe completion of automatic parking, the path planning algorithm in this paper can plan the optimal parking path.
Published Version
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