Research And Implementation Of Path Planning Algorithm For Vehicle Parking Based On Clothoid

Vehicle is one of the most important means of human transportation. As urban rapid development, the number of vehicles grows and the tough traffic condition occurs more often which increases the probability of car accidents. As the research focus of the Intelligent Transportation System, Unmanned Ground Vehicles will reduce car accidents and ease the traffic congestion by its high intelligence.Parking has become an important and indispensable skill for drivers since vehicle became a tool for human transportation. Due to the blind spot, it is hard for drivers to obtain the accurate information behind the vehicle, which will cause accident during parking process. As one application of unmanned vehicle technology, automatic parking system has broad application value.In this thesis, the research is mainly focused on path planning algorithm which is the key technology for vehicle parking. In addition, an automatic parking system will be built in which the proposed path planning algorithm will be used. The main contributions are stated as follows:1. In the field of path planning algorithm, as the second derivative of the path is discontinuous which planned by previous algorithms based on clothoid, the steering process method will be introduced. The method could plan the path of the steering process by calculating the displacement and the change of the angle of the vehicle which could improve the smoothness of the path. According to the steering process method, a traversal path planning algorithm based on clothoid will be introduced. The results of the simulation experiments on MATLAB show that the algorithm could plan the global optimal path considering safety, smoothness and short travel distance.2. In the field of automatic parking system, a human-vehicle interactive automatic parking system based on handheld terminal will be introduced according to the autonomous vehicle platform IN2 BOT. The automatic parking system succeed in human-vehicle interaction, parking plot searching and automatic parking. In addition, the system will use the proposed path planning algorithm. The results of the simulation experiments on V-REP and the experiments on IN2 BOT show that the system is able to achieve the parking process safely and quickly in tough and dynamic parking environment.