Research on the Autonomous Parking Strategy Based on the Ultrasonic Echo Simulator

In order to solve the time and economic cost issues of automatic parking algorithm testing for intelligent vehicles in real scenarios, this paper develops a hardware in the loop virtual simulation system for automatic parking based on ultrasonic echo simulator. Based on the vehicle kinematics model, this paper establishes the optimal control problem of parking path planning, converts the optimal control problem into a linear programming problem, and uses the adaptive pseudo spectral method to obtain the optimal trajectory. Combining virtual environment and hardware in the loop system for verification, the experimental results show that accurate obstacle information in the virtual scene can be obtained based on ultrasonic echo signals. In the parallel parking scene of multiple target vehicles, intelligent vehicles can perform trajectory planning based on obstacle information and safely complete parking tasks.