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A Method of Path Search for Automatic Parking System Based on Improved Hybrid A* Algorithm
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Yanbo Cao1, Jingcai Yan2, Xusheng Li2, Libo Cao1
Automobile Technology | 2023, (6) : 37 - 41
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Automobile Technology | 2023, (6): 37-41
• Special Topic on the 25th International Conference on Automobile Safety Technology •
A Method of Path Search for Automatic Parking System Based on Improved Hybrid A* Algorithm
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Yanbo Cao1, Jingcai Yan2, Xusheng Li2, Libo Cao1
Affiliations
  • 1 State Key Laboratory of Advanced Design and Manufacturing of Automobile Body, Hunan University, Changsha 410082
  • 2 Baoding Branch of HAOMO.AI Technology Co., Ltd., Baoding 071000
Published: 2023-06-24 doi: 10.19620/j.cnki.1000-3703.20230268
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For the situation that the hybrid A* algorithm is difficult to accelerate the search using collision-free Reeds-Shepp (RS) curves due to the complex environment near the destination in short distance parking scenarios, this paper proposed an improved hybrid A* algorithm that reversely searched the path from the target posture, combined with the cost map look up calculated by A* algorithm to obtain heuristic values. Collision detection was performed by judging whether the car body contour line intersecting with the simplified obstacle to save search time, and by setting suitable vehicle steering angle resolution to increase number of the node expansion direction to ensure the smoothness of the path. Finally, MATLAB was used to simulate and compare the improved algorithm with the original algorithm. The results showed the improved hybrid A * algorithm effectively shortened the path search time both in parallel and vertical parking scenario, resulting in shorter and smoother paths.

Automatic parking  /  Hybrid A*  /  Path searching
Yanbo Cao, Jingcai Yan, Xusheng Li, Libo Cao. A Method of Path Search for Automatic Parking System Based on Improved Hybrid A* Algorithm[J]. Automobile Technology, 2023 , (6) : 37 -41 . DOI: 10.19620/j.cnki.1000-3703.20230268
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doi: 10.19620/j.cnki.1000-3703.20230268
  • Online Date：2025-12-07
  • Published：2023-06-24
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  • Revised：2023-04-04
Affiliations
    1 State Key Laboratory of Advanced Design and Manufacturing of Automobile Body, Hunan University, Changsha 410082
    2 Baoding Branch of HAOMO.AI Technology Co., Ltd., Baoding 071000
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