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Multi-strategy vertical parking path planning considering the influence of obstacles

For the vertical parking scene with narrow parking spaces, this paper proposes three kinds of path planning strategies to guide the vehicle to park safely and successfully in the parking spaces by using the path planning method of arc-line-mitigation curve and considering the initial posture and position relationship of different vehicles. Then, considering the complexity of the actual parking environment, obstacle analysis and future trajectory prediction of dynamic obstacles are added, and the impact of different obstacles on the parking path is analyzed. Three obstacle avoidance methods are proposed, and three planning strategies are combined to achieve safe and efficient vertical parking. Finally, the path planning method is simulated and verified in QT environment. The results show that the vertical parking path planning method proposed in this paper meets the parking needs of narrow vertical parking spaces and achieves safe and efficient parking with predictability.