Geometric continuous-curvature path planning for automatic parallel parking

This paper deals with path planning for car-like vehicle in parallel parking problems. Our path planning method uses simple geometry of the vehicle kinematic model. The presented strategy consists in two parts: create a simple geometric path for the parallel parking in one or more maneuvers, formed by circle arcs and then transform it to a continuous-curvature path with the use of clothoids. Accordingly, a car-like vehicle can follow such path without reorienting its front wheels at stop. The proposed planning method is independent of the initial position and of the orientation of the vehicle. Control inputs for steering angle and longitudinal velocity are generated so that the vehicle can park by following them.