A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems

Abstract

This paper proposes a planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems, especially suitable for backward parking situations. The algorithm is based on the steering property that backward moving trajectory coincides with the forward moving trajectory for the identical steering angle. The basic path planning is divided into two segments: a collision-free locating segment and an entering segment that considers the continuous steering angles for connecting the two paths. MATLAB simulations were conducted, along with experiments involving parallel and perpendicular situations.978-1-4799-6078-

An algorithm of parking planning for smart parking system

“…4) Delegate the improved A* algorithm to complete the entire path planning task. It should be noted that using simple geometric curves to plan the parking path can result in curvature discontinuities at the junctions between straight lines and circular arcs, as well as at the connections of two circular arcs [35]. This situation does not meet the requirements for parking control.…”

Parallel Parking Path Planning in Narrow Space Based on a Three-Stage Curve Interpolation Method

“…Since the minimum turning radius is already known, the curvature change rate only needs to be less than or equal to the maximum curvature change rate 𝜎 𝑚𝑎𝑥 limited by the wheel steering mechanism structure. By inputting the parking termination point 𝐶 1 and the appropriate turning curve curvature change rate c into the equations ( 9), (10), and (11), the termination point 𝐶 2 (𝑥 2 , 𝑦 2 ) of the clothoid curve and the vehicle azimuth 𝛼 2 can be obtained.…”

“…Reference [7] proposed a path-planning method based on circular arcs and straight lines for parallel parking, which reduces the tracking difficulty at the tangent point. References [8], [9], and [10] initial path planning for parallel parking is performed using the circular arc and straight-line method, followed by smoothing the initial path using the Bessel curve to eliminate sudden curvature changes. References [11], [12], and [13] proposed a path planning for parallel parking based on a combination of clothoid curves and straight lines, which can eliminate the phenomenon of sudden curvature change.…”