Research on Vertical Parking Path Planning Based on Circular Arcs, Straight Lines, and Multi-Objective Evaluation Function

In the vertical parking process, the issue of turning in place due to discontinuities in path curvature is addressed by proposing an optimal reference path planning method based on circular arcs, straight lines, and a multi-objective evaluation function. This method first analyzes the obstacle avoidance constraints between the vehicle’s outer contour and the parking space, as well as the vehicle’s kinematic constraints. The feasible driving region’s upper and lower boundaries are determined by tangent circular arcs and straight lines. Subsequently, a multi-objective evaluation function is designed, which integrates path curvature, adjustable margins at any given moment, and path length, to obtain the optimal circular arc and straight line combination within the feasible region. Finally, the path is fitted using a polynomial curve to form the optimal reference path. Simulation results demonstrate that the planned path satisfies both the continuity of path curvature and the vehicle’s kinematic constraints.