Planning and control for a fully-automatic parallel parking assist system in narrow parking spaces

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.