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Summary & Details

Path Planning Algorithm of Automatic Perpendicular Parking in Constrained Parking Space

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Format: PDF

Price: Non-members (tax incl.)：￥6,600 Members (tax incl.)：￥5,280

Paper/Info type: SAE Paper

No.2021-01-0911

Pages: 1-11(Total 11 p)

Date of publication: Apr 2021

Publisher: SAE International

Language: English

Event: SAE WCX Digital Summit 2021

Detailed Information

Author(E)	1) Fei Ye, 2) Hui Lu, 3) Cheng Qi
Affiliation(E)	1) SAIC Motor Passenger Vehicle Company, 2) SAIC Motor Passenger Vehicle Company, 3) SAIC Motor Passenger Vehicle Company
Abstract(E)	This article focuses on the implementation of a perpendicular parking assistance and more precisely, the path planner of the perpendicular parking. An iterative algorithm is adopted consisting of two steps. Firstly, whether the vehicle can reverse or drive park into the desired slot in one maneuver is checked. Secondly, a sequence of backward and forward moving is implemented from the original position, until the vehicle reaches a configuration of states from which it can be pulled into the parking slot. In both steps, the constraints of parking space and vehicle dynamics are considered. Simulation examples demonstrating the effectiveness of the proposed path planning strategy are presented.

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