自动代客泊车的高效路径规划:混合 A* 搜索与几何曲线的整合

IF 1.5 4区 工程技术 Q3 ENGINEERING, MECHANICAL International Journal of Automotive Technology Pub Date : 2024-09-14 DOI:10.1007/s12239-024-00144-1
Gaojian Cui, Yuxi Yin, Qipei Xu, Chaolong Song, Guohua Li, Shaosong Li
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引用次数: 0

摘要

自动代客泊车系统是自动驾驶技术的重要组成部分,它能大大提高泊车效率并减轻驾驶员的压力。在狭小空间的路径规划领域,传统的混合 A* 算法往往会产生大量无效的扩展节点,导致计算负荷增加和空间利用效率降低。本研究引入了一种新的路径规划方法,将混合 A* 算法与几何曲线相结合,以克服这些挑战。首先,混合 A* 算法进行全局路径规划,以确保从停车场入口到所需停车点的路线的可行性。随后,遗传算法对驾驶路径进行局部优化,从而提高安全性和效率。最后,利用贝塞尔曲线和布洛伊曲线来平滑路径,进一步提高规划效率和驾驶安全性。实验结果表明,所提出的方法在规划时间效率和路径质量方面超越了现有方法。
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Efficient Path Planning for Automated Valet Parking: Integrating Hybrid A* Search with Geometric Curves

An automated valet parking system, a critical element of autonomous driving technology, greatly enhances parking efficiency and reduces driver stress. In the realm of path-planning in tight spaces, traditional Hybrid A* algorithms often produce numerous invalid expansion nodes, leading to increased computational load and decreased spatial utilization efficiency. This study introduces a new path-planning approach that combines the Hybrid A* algorithm with geometric curves to overcome these challenges. Initially, the Hybrid A* algorithm conducts global path-planning to ensure the viability of the route from the parking entrance to the desired spot. Subsequently, a genetic algorithm optimizes the driving path locally, improving safety and efficiency. Finally, Bézier and clothoid curves are utilized to smooth the path, further enhancing planning efficiency and driving safety. Experimental results show that the proposed approach surpasses existing methods in terms of planning time efficiency and path quality.

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来源期刊
International Journal of Automotive Technology
International Journal of Automotive Technology 工程技术-工程:机械
CiteScore
3.10
自引率
12.50%
发文量
129
审稿时长
6 months
期刊介绍: The International Journal of Automotive Technology has as its objective the publication and dissemination of original research in all fields of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING. It fosters thus the exchange of ideas among researchers in different parts of the world and also among researchers who emphasize different aspects of the foundations and applications of the field. Standing as it does at the cross-roads of Physics, Chemistry, Mechanics, Engineering Design and Materials Sciences, AUTOMOTIVE TECHNOLOGY is experiencing considerable growth as a result of recent technological advances. The Journal, by providing an international medium of communication, is encouraging this growth and is encompassing all aspects of the field from thermal engineering, flow analysis, structural analysis, modal analysis, control, vehicular electronics, mechatronis, electro-mechanical engineering, optimum design methods, ITS, and recycling. Interest extends from the basic science to technology applications with analytical, experimental and numerical studies. The emphasis is placed on contributions that appear to be of permanent interest to research workers and engineers in the field. If furthering knowledge in the area of principal concern of the Journal, papers of primary interest to the innovative disciplines of AUTOMOTIVE TECHNOLOGY, SCIENCE and ENGINEERING may be published. Papers that are merely illustrations of established principles and procedures, even though possibly containing new numerical or experimental data, will generally not be published. When outstanding advances are made in existing areas or when new areas have been developed to a definitive stage, special review articles will be considered by the editors. No length limitations for contributions are set, but only concisely written papers are published. Brief articles are considered on the basis of technical merit.
期刊最新文献
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