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Automatic Parking Trajectory Planning Based on Multi-objective Optimal Trajectory Decision Algorithm

Trajectory planning is a key part of the automatic parking system. An effective trajectory planning method should quickly generate a safe and shortest trajectory which meets the non-holonomic constraints. In this paper we consider several possibilities of collision with obstacles in parking process, simplify and model the parking scene, and then a multi-objective optimal trajectory decision algorithm is proposed and the evaluation function of algorithm is combined with safety, feasibility, smoothness and efficiency. Finally the optimal value decision of the function is performed to obtain the optimal parking trajectory. The presented simulation results show that the proposed trajectory planning algorithm can effectively complete the automatic parking task.