基于改进混合A^(*)算法的自动泊车路径规划方法研究  

Research on Automatic Parking Path Planning Method Based on Improved Hybrid A^(*)Algorithm

作　　者：白俊卿 魏雪涛 张红猛 BAI Junqing;WEI Xuetao;ZHANG Hongmeng(School of Computer Science,Xi'an Shiyou University,Xi'an 710065,China)

机构地区：[1]西安石油大学计算机学院,西安710065

出　　处：《计算机测量与控制》2025年第1期226-234,共9页Computer Measurement &Control

基　　金：西安石油大学研究生创新与实践能力培养计划(YCS23214304)。

摘　　要：为了解决在自动驾驶过程中短距离自动泊车场景下,受环境复杂性影响导致传统的A^(*)算法和RS曲线加速搜索算法难以应用的问题,提出了一种加入反向搜索算法的改进混合A^(*)算法;利用地图栅格法和A^(*)算法计算启发值,通过检测车身轮廓线与简化后的障碍物线是否相交判断二者能否相撞,以节省搜索时间;通过控制RS曲线的扩展方向数量,保证路径的平滑性;经MATLAB仿真垂直入库和侧方泊车场景,对改进算法与传统算法进行了对比分析,验证了同等条件下改进的混合A^(*)算法在两种仿真场景的平均搜索时间上分别减少8.18%和20.53%,且能产生更短、更平滑的路径,从而验证了所提基于反向搜索算法的混合A^(*)算法的优越性。In order to solve the problem that traditional A^(*)algorithm and RS curve accelerated search algorithm are difficult to apply in short-distance automatic parking scene during autonomous driving due to the complexity of environments,an improved hybrid A^(*)algorithm with reverse search algorithm is proposed.The heuristic value is calculated using the map grid method and A^(*)algorithm.By detecting whether the body contour line intersects with the simplified obstacle line,it is determined whether the two will collide,so as to save the search time;The extended directions of the RS curve is employed to ensure the smoothness of the path;Through MATLAB simulation in vertical parking and side parking scenes,the improved algorithm is compared with the traditional algorithm.The results show that under the same conditions,the improved hybrid A^(*)algorithm reduces the average search time in two simulation scenes by 8.18%and 20.53%,respectively,with a shorter and smoother path,thus verifying the superiority of the proposed hybrid A^(*)algorithm based on the reverse search algorithm.

关 键 词：自动泊车 路径规划 反向搜索 混合A~*算法 障碍物距离代价 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]