Abstract
As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.
Highlights
The increase of car ownership in urban areas and the challenges of traffic congestion and insufficient parking spaces are great concerns to urban planners and managers
A major component of automatic parking technology is parking path planning and tracking control, which significantly affects the requirements of the parking space size and parking success rate
In order to improve the curvature continuity of parking path and the efficiency of path tracking, this study proposes a new path planning and tracking control method
Summary
The increase of car ownership in urban areas and the challenges of traffic congestion and insufficient parking spaces are great concerns to urban planners and managers. The size of parking space in most urban centers is becoming smaller to overcome the difficulty of inadequate parking space, and the following problem is usually associated with parking difficulties and accidents, such as scuffing and collisions [1,2,3]. Facing these challenges, automatic parking technology for intelligent vehicles receives extensive attention from both the automotive industry and research institutions. The promotion of automatic parking technology can promote the development and deployment of autonomous driving and intelligent vehicles [4,5,6,7,8,9,10].
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