The difficulty of parking is getting worse. In this paper, an optimization method of on-street parallel berth planning is proposed to solve this problem. First, a phased parallel parking method is introduced to simulate the parallel parking process. The feasible final parking area and the optimal parking trajectory are obtained. Secondly, in order to improve the robustness of the parking, considering the influence of errors, such as initial point error and the control angle error, the sizes of optimal parking berth for different vehicle types are obtained. At the same time, the size of the continuous on-street parallel berth is optimized, which realizes the minimization of the parking zone when vehicle types are random. In this paper, the optimal berth setting method is proposed, which could improve the utilization rate of on-street parking area and provide a scientific basis for the setting of on-street parking berth.
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