| Abstract: | Automated Valet Parking (AVP) system is a comprehensive platform integrating intelligent driving environment perception, decision planning and motion control technologies. Trajectory planning is directly related to the efficiency, energy consumption, safety and comfort of the valet parking process. To outline the development status of autonomous parking trajectory planning technology, this paper first reviews the development history of parking technology, then investigates trajectory planning during parking, and analyzes the progress in AVP research. Recognizing that the transition from single-vehicle intelligence to multi-vehicle cooperation reveals greater potential for system optimization, this study subsequently outlines the fundamental methods and current research status of multi-vehicle cooperative trajectory planning, with a special focus on cooperative planning in parking scenarios. Finally, this paper analyzes existing issues and future development trends in AVP trajectory planning. |
