Automatic parking problem based on path planning

Research related to the problem of automatic parking of driverless passenger vehicles is of great importance, and this paper presents a series of studies on the path planning problem of automatic parking of driverless passenger vehicles. For Problem 1, three physical problems are solved: solving for the minimum turning radius, the shortest distance required, and the limiting relationship between the magnitude of curvature change on the path relative to the path length under the respective conditions. The structural Ackermann physical model involved in this driverless bus is analyzed in depth, and with the help of the differential equation system model and related physical concepts and formulas, a car motion model is established, and the minimum turning radius of 4.9947 m and the minimum distance of 5.23 m are successfully solved. The mathematical model of parking from the initial position to the specified parking space under the specified conditions is required. After analyzing the basic models of the Ackermann model, such as state equations, path smoothing and trajectory generation, the relevant mathematical models for solving the critical conditions were established and the RRT algorithm was used to build the model. Finally, the resultant model is obtained by MATLAB.