A Practical Path Planning Strategy for Automatic Parking in Constrained Parking Space

摘要

A practical automatic parking strategy of path planning in constrained parking space is stated in this paper. The path planning algorithm is designed by reversing a retrieving path that consists of two steps. First, a sequence of forward and backward moving is implemented from the final parking position, until the vehicle reaches a configuration of states from which it can pull out of the parking slot with one maneuver. Second, a continuous path is generated from this configuration to the vehicle original states. The constraints of parking space and vehicle dynamics are considered in both steps.