Path Planning Algorithm of Automatic Perpendicular Parking in Constrained Parking Space

This article focuses on the implementation of a perpendicular parking assistance and more precisely, the path planner of the perpendicular parking. An iterative algorithm is adopted consisting of two steps. Firstly, whether the vehicle can reverse or drive park into the desired slot in one maneuver is checked. Secondly, a sequence of backward and forward moving is implemented from the original position, until the vehicle reaches a configuration of states from which it can be pulled into the parking slot. In both steps, the constraints of parking space and vehicle dynamics are considered. Simulation examples demonstrating the effectiveness of the proposed path planning strategy are presented.