Autonomous valet parking path planning for dynamic obstacle scene

Aiming at the problem of autonomous valet parking path planning in the presence of dynamic obstacle, a novel path planning method for autonomous valet parking system is proposed based on D* algorithm and dynamic window method. First, the raster scanned algorithm is used to quickly and accurately construct the static environment map of the autonomous valet parking scene, and the Dijkstra algorithm is used to update the local static environment map affected by dynamic obstacle in real time. Then, the D* algorithm is used to transform the static environment map of the autonomous valet parking scene into a static path field in order to obtain the original global autonomous valet parking path. Meanwhile, the global autonomous valet parking path affected by dynamic obstacle is re-planned with the help of the static path field. Finally, the dynamic window method and arc-line combination method are used to plan the optimal local autonomous valet parking path, and the geometric boundary collision detection method and raster space coverage enumeration method are integrated to quickly eliminate the infeasible local autonomous valet parking path. The feasibility and effectiveness of the proposed method for autonomous valet parking system are verified in VC++6.0 environment. The results show that the proposed method can safely guide the vehicle into the target vertical parking space in the autonomous valet parking scene with dynamic obstacle. © 2022, Editorial Department of Journal of Southeast University. All right reserved.