关键词: 汽车工程, 栅格地图, 自主代客泊车, 路径规划, 动态窗口法

Abstract: Aiming at the autonomous valet parking path planning problems for the wire-four-wheel steering vehicles， an autonomous valet  path planning method with adaptive ability to dynamic obstacles was proposed.  Firstly， the grid map which might describe the environmental information of parking lot was used to transform the autonomous valet parking path planning problem in continuous state space into that in discrete state space， and the isotropic circular structure elements were used to expand the grid map to keep a safe distance between the planned autonomous valet parking path and the obstacles.  Then， the D* Lite algorithm was used to plan the global autonomous valet parking path with adaptive ability to dynamic obstacles， as well the dynamic window method and the arc-line combination method were used to plan the local autonomous valet parking path， which met the kinematic and mechanical constraints of the wire-four-wheel steering vehicles and might guide the vehicles to enter the oblique parking space safely.  Finally， the feasibility of the proposed method was verified by simulation， and the results show that the proposed method may plan a feasible path to guide the vehicles into the target oblique parking space safely in the presence of dynamic obstacles. 

Key words: vehicle engineering, grip map, autonomous valet parking, path planning, dynamic window method