Hierarchical Path Planning Method for Automated Valet Parking Systems

초록

Automated valet parking systems have been researched because they provide a good service condition forautonomous vehicles, with their limited space and unmanned environment. Previous parking algorithms focused onplanning a path to a parking space based on geometry. However, this approach only works when the parkingspace is simple. To make automated parking algorithms useful in different environments, it is crucial to drive a pathfrom the entrance to the target space and plan a safe parking path, taking into account the surrounding vehicles inthe parking lot. This study organizes the structure of the automated valet parking system into two phases. The firstphase involves driving from the origin to the destination. The second phase focuses on planning a path for parkingthe vehicle in the parking lot. It considers the position, orientation, and parking space to plan a path that alignscorrectly. Simulation results demonstrate that the proposed algorithm can plan paths in various parkingenvironments and park vehicles in narrow parking spaces. It is expected that this proposed automated valetparking algorithm can be further improved to contribute to the early commercialization of automated drivingtechnology.

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