Research on Vertical Parking Path Planning of Semi-trailer Train Based on Improved Hybrid A* Algorithm

Aiming at the difficulty of parking semi-trailer trains, the vertical parking path planning of semi-trailer trains was studied based on the improved hybrid A* algorithm. Firstly, the vehicle kinematics model is established. Then, the original algorithm is improved on the basis of the hybrid A* algorithm, so that it can be applied to semi-trailer trains. Finally, the improved hybrid A* algorithm is verified by MATLAB simulation. The simulation results show that the improved hybrid A* algorithm can be used in general situations or when the vehicle has a certain initial heading angle. It can make the vehicle stop to the target parking space accurately and without error.