Easy Path Planning and Robust Control for Automatic Parallel Parking

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

“…In this method, the initial orientation of the vehicle has to be parallel to the parking spot. Whereas the length of the minimum parking spot depends on the initial position of the vehicle in the method proposed in [15], the minimal length proposed in the reversed method in [18] and [19] depends only on the characteristics of the vehicle.…”

“…Other methods allow parking in several maneuvers, e.g., in [17], where a forbidden zone is defined and the car can park by traveling outside it with a path formed by circle arcs. An interesting approach in parking in one maneuver that is based on retrieving a vehicle from a parking spot and then reversing this procedure was proposed in [18] and [19]. In this method, the initial orientation of the vehicle has to be parallel to the parking spot.…”

“…The latter minimal length L minclotho is characterized by its bounds L limmin and L limmax in (19). Fig.…”

“…To obtain a minimum length path, in [19], taking both circles of minimum radius is proposed. Moreover, the initial pose of the car has to be parallel to the parking spot.…”

“…As the ICR is situated on the same axle than the rear track, we have in this case W min = 2b + d l + d r = Width car . The minimum length L min is deduced with a similar method, i.e., [19] …”