This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to get a collision-free and feasible path in a short time. To solve this problem, this paper introduced a novel algorithm called Multi-Heuristic Hybrid A* (MHHA*) which incorporates the characteristic of Multi-Heuristic A* and Hybrid A*. So it could provide the guarantee for completeness, the avoidance of local minimum and sub-optimality, and generate a feasible path in a short time. And this paper also proposed a new collision check method based on coordinate transformation which could improve the computational efficiency. The performance of the proposed method was compared with Hybrid A* in simulation experiments and its superiority has been proved.

翻译：该文件提出了一种新的自动泊车方法:自主泊车由于方便而引起人们的极大关注,但是由于复杂的环境以及车辆的非超光层限制,很难在短时间内找到一条没有碰撞和可行的道路;为了解决这个问题,本文件采用了一种新型算法,称为多休混合A* (MHHA* ),它包含了多休混合A* 和混合A* 的特点。因此,它可以保证完整性,避免当地最低和次优化,并在短时间内开辟一条可行的道路。这份文件还提出了一种基于协调转换的新的碰撞检查方法,可以提高计算效率。在模拟实验中,拟议方法的性能与混合A* 相比,其优劣性得到了证明。