Parking path planning of autonomous vehicle based on B-spline curve

In the existing research on automatic parking system, because the actual vehicle steering constraints and initial pose conditions are ignored, which affects the actual vehicle tracking reference path effect, this paper proposes a path planning algorithm based on B-spline curve. Firstly, the movement process of the vehicle is studied, and the Kinematics model of the vehicle is established. Secondly, based on the B-spline curve theory, the nonlinear constrained parallel parking path optimization function is established, and the vehicle Kinematics constraints are analyzed. Finally, the rationality of the planned path was verified through joint simulation using Simulink and CarSim.