Full
Outline
To address issues such as long planning time and low success rate in automated parking under complex scenarios, this paper proposes a parallel parking path planning algorithm based on a Smart Probability Map-enhanced Bidirectional Rapidly-exploring Random Tree* (SPM-Bi-RRT*). 3 types of complex parking scenarios are defined: narrow parking spaces, constrained passageways, and obstacle-present environments. A simplified vehicle collision detection model is established using the vector cross product method. The sampling strategy is innovatively improved by hierarchically partitioning the sampling space to reduce computational complexity. A probability map is constructed based on repulsive bias and prior paths to guide algorithmic sampling. Path extension is performed using improved Reeds-Shepp curves with adaptive dynamic step sizes. Finally, path smoothing and optimization are achieved through pruning and cubic B-spline curves. Simulation results show that the proposed SPM-Bi-RRT* algorithm can generate smooth, collision-free paths in all three complex parking scenarios. Compared with the original RRT* algorithm, the search time is reduced by 56.67%, 49.63%, and 58.42%, respectively, and the path length is shortened by 7.74%, 3.84%, and 3.65%.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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