Path Planning and Tracking Control for an Automatic Parking Assist System

摘要

This paper presents two major components of an automatic parking assist system (APAS). The APAS maps the environment of the vehicle and detects the existence of accessible parking place where the vehicle can park into. The two most important tasks the APAS must then realize are the design of a feasible path geometry and the tracking of this reference in closed loop such that the longitudinal velocity of the vehicle is generated by the driver and the controller determines the steering wheel angle which is realized by an Electronic Power Assist Steering (EPAS). We present in details the solution of the continuous curvature path planning problem and the time-scaling based tracking controller. These components are part of an implemented APAS on a commercial passenger car including an intelligent EPAS.