Planning and control for a fully-automatic parallel parking assist system in narrow parking spaces
Kunpeng Cheng, Ye Zhang, Hui Chen · 2013
This paper presents two major parts of a fully-automatic parallel parking assist system. After mapping the available parking place by perception module, the parking assist system plans an optimal path according to driver's selection, and then tracks the reference path with limited error. It is presented in details the solution of segmental path planning with back-and-forth shuttling maneuvers in the narrow parking lot. In addition, it is discussed the flatness-based steering control algorithm and the longitudinal motion control strategy. Effectiveness of the proposed method is verified by hardware-in-the-loop test results with a driving simulator.