Abstract: Path planning is one of the key technologies of intelligent vehicle, in which path planning is the premise for intelligent vehicle to realize automatic parking. Based on Hybrid A*algorithm, this paper studies the parking trajectory planning of intelligent vehicles, solves the problem of repeated reversing or changing the driving direction when intelligent vehicles park through heuristic function optimization, and solves the problem of maintaining the safe distance of vehicles in parking through the improvement of collision detection strategy. Through MATLAB software simulation, the algorithm can realize the trajectory planning in the environment of reverse warehousing, side parking and path finding parking in the parking lot, which verifies the effectiveness and practicability of the improved algorithm.

Key words: Intelligent vehicle; Trajectory planning; Hybrid A*algorithm; Parking; Collision detection

摘要： 路径规划是智能汽车的关键技术之一，其中轨迹规划是智能汽车实现自动泊车的前提。 基于 Hybrid A*算法对智能汽车的泊车轨迹规划展开研究，通过启发函数优化解决智能汽车泊 车时反复倒车或变更行驶方向的问题，通过碰撞检测策略改进，解决泊车中车辆安全距离保 持的问题。通过 MATLAB 软件仿真，算法可实现在倒车入库、侧方位停车和停车场寻径停车 等环境下的轨迹规划，验证了改进算法的有效性和实用性。

关键词: 智能汽车；轨迹规划；Hybrid A*算法；泊车；碰撞检测