Inverted Parallel Parking Path Planning Method Based on the Two-arc
ZHANG Chi
ZHANG Yonglin
Abstract：This article studies the problem of path planning in automatic parking system. In order to realize the path planning of different parking starting points,based on two circular arc inverted parallel parking path planning scheme is proposed,which has the advantages of continuous curvature and simple calculation. The working principle of the parking path planning scheme proposed in this paper is that in view of the two arcs that make up the parking path,the radius of the second arc of the parking path in the parking path is first determined by using the minimum turning radius of the vehicle when the parking constraint condition is satis?fied. And then the radius of the first segment of the arc is calculated by using the Bisection method to obtain two arc-shaped parking paths that are tangent to each other and have continuous curvature. Finally,a numerical simulation is used to verify the effectiveness and reliability of the proposed parking path planning scheme.
Keywords：automatic-parkingpath planningthe minimum turning radiusinverted
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 3035-3040 )