Sobol sequence RRT* and numerical optimal joint algorithm-based automatic parking trajectory planning of four-wheel steering vehicles

作     者：Yang, Jiulong Wang, Junnian Li, Jiajun Meng, Xiangzhe Jiang, Xingwei Lu, Changgang 

作者机构：Jilin Univ Natl Key Lab Automot Chassis Integrat & B Renmin St 5988 Changchun Peoples R China China FAW Grp Co Ltd Intelligent Connected Vehicle Dev Inst Changchun Peoples R China 

出 版 物：《ROBOTICS AND AUTONOMOUS SYSTEMS》 (Rob Autom Syst)

年 卷 期：2025年第186卷

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Natural Science Foundation of China Jilin Province Natural Science Foundation [20220101200JC] Jilin Prov-ince Science and Technology Innovation of Young and Middle-aged Excellence Talent Project [20230508050RC] 

主　　题：Automatic parking Four-wheel steering Path planning Rapidly-exploring random tree Numerical optimal control Dynamic obstacle 

摘      要：Four-wheel steering can effectively improve turning agility and mitigate parking spatial requirement. Addressing the issues of low sampling point quality and poor efficiency in existing Rapidly-exploring Random Tree (RRT) and its improved algorithms for automatic parking assist (APA) system, a parking trajectory planning algorithm combining Sobol-RRT* with Reeds-Shepp curve and numerical optimal control within four-wheel steering kinematic model constraints is proposed in this paper to improve parking space utilization rate, cope with dynamic obstacles during parking process. First, the hierarchical framework of the proposed path planning algorithm is introduced, which is used as the basis of the planning algorithm, and the kinematics model of the four-wheel steering vehicle is established. Second, the pseudo-random sequences of RRT algorithm are replaced by Sobol sequences with uniform difference characteristics. Then, the parking trajectory planning problem is formulated with consideration of the system dynamic equation constraints based on the four-wheel steering kinematics model and the dynamic obstacle constraints based on the triangular area method. Finally, the planned parking trajectory for the four-wheel steering vehicle is obtained by solving the optimal control problem and cubic spline curve fitting. Simulation in typical parking conditions validated the proposed planning algorithm on improvement of the APA system adaptability to challenging parking environment with dynamic obstacles.