Path Planning Method for Automatic Parking Based on Hybrid A*

To solve the final critical parking process of automated valet parking, for the common vertical, parallel, and oblique parking scenarios, the hybrid A* path planning algorithm which combines the A* algorithm and the Reeds-Shepp curve is used. The algorithm also contains the collision detection method which combines the circular collision detection and the rectangular collision detection, finally, the collision-free parking route of the target vehicle is obtained. The algorithm considers the heading angle and kinematic constraints of the target vehicle, so it is suitable for practical parking problems. The simulation simulates three typical parking scenarios and compares the path planning results with the A* algorithm. The simulation results show that the planned path of the proposed algorithm has higher quality, requires fewer spot turns, and is more in line with the requirements of the vehicle steering motion. The feasibility and generality of the algorithm are verified through the numerical simulation.