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Featured Application: This anti-congestion route planning scheme will be used in the automatic valet parking area. It will have outstanding performance in the combination technology of V2X environment and driverless technology.Abstract: Based on the Dijkstra algorithm, with the parking parameters in the static state, the shortest route to each parking space of the parking lot without dynamic influence factors can be calculated. In the new technology background of the combination of the V2X environment and driverless technology, the dynamic influence factors, for example, the lanes occupancy situation caused by parking, can be considered to improve the shortest route with the new scheme in this paper. Then the final route that costs the least time to reach each parking space will be calculated. This is very important for the development of the intelligent transportation system in the parking lot environment.

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