Automatic parking reference trajectory optimization method

The invention discloses an automatic parking reference trajectory optimization method, which comprises the following steps of: acquiring a current position of a vehicle, a garage position and a standard parking position, and constructing a reference trajectory optimization model through a cubic spline fitting method according to a preset number of reference trajectory feature points; performing gene correction on three conditions of a far side line, parking inclination and dislocation of an anti-collision storage location generated in the optimization process of the reference trajectory optimization model; and solving the reference trajectory optimization model after gene correction based on an improved moth fire suppression optimization algorithm so as to obtain an optimal reference trajectory. On the basis of a standard automatic garage parking plane coordinate system, a cubic spline fitting method is combined, an automatic garage parking reference trajectory optimization model is constructed, a weight coef