Table 4 Main parameters of the proposed algorithm.
From: Automatic parking trajectory planning in narrow spaces based on Hybrid A* and NMPC
Parameter | Value | Unit |
|---|---|---|
Hybrid A* Grid XY resolution | 0.2 | m |
Hybrid A* grid heading resolution | 0.1 | rad |
Hybrid A* search step size | 0.2 | m |
Maximum parking speed \(v_{max}\) | 1 | m/s |
next-node expansion number | 14 | Â |
Hybrid A* cost weights \(\omega_{1}\) | 20 | Â |
Hybrid A* cost weights \(\omega_{2}\) | 40 | Â |
Hybrid A* cost weights \(\omega_{3}\) | 10 | Â |
NMPC cost weight \(w_{1}\) | 200 | Â |
NMPC cost weight \(w_{21}\) | 100 | Â |
NMPC cost weight \(w_{22}\) | 100 | Â |
NMPC cost weight \(w_{31}\) | 100 | Â |
NMPC cost weight \(w_{32}\) | 100 | Â |
NMPC cost weight \(w_{4}\) | 400 | Â |
Obstacle envelope expansion | 0.1 | m |
