Trajectory Planning Of Automatic Parallel Parking Based On Continuous Curvature

An automatic parking system not only can relieve the burden of drivers, but also can decrease the traffic accidents. The research of automatic parking trajectory planning does not give enough emphasis on the curvature of the path, what leads to the parking steering phenomenon occurred during the parking process. An automatic parallel parking system has been proposed in this dissertation to solve the problem.In this dissertation, a kinematics model of parking has been designed. The structured parking and complex parking situations are both considered, the B-spline theory of trajectory planning and the CC curve trajectory planning are used for those environments. Then we do some simulation analysis to detect the validity of the controller and verify the geometry path.In addition, an automatic parking system has been designed in this dissertation, including the perception of the system for data acquisition and automatic driving actuator. The system can attain the surrounding environment and car body posture, and then the DSP can compute the park path, meanwhile it sends orders to the actuator which realize the automatic parking process.Lastly this dissertation carried out some experiments on real vehicle. Control system judged the suitable current parking according to the data of perceptual system, and generated a valid parking path. According to the result of parking path, the car can achieve the auto parking by the control system control the steering wheel and the drive system.Automatic parking system designed in this paper can select the appropriate path planning method depending on the circumstances of parking spaces. It can achieve automatic parking task, but further research can be done to improve the performance.