Parking Planning Under Limited Parking Corridor Space

Automatic parking systems are increasingly used in daily life, and the restriction of parking spaces will make parking more difficult. This paper proposes parallel parking and forwards vertical parking path planning algorithms considering the park-ing corridor space. First, an anthropomorphic parallel parking path planning using parking space is proposed for the limited space over the length of the parking corridor. Second, a for-ward vertical parking path planning algorithm is proposed con-sidering the width of the parking space corridor. Third, the tar-get line set for parallel parking and vertical parking paths is generated. At the same time, the target line set considers the error factor and then selects the target line. Fourth, the clothoid solves the problem of discontinuous curvature of the parking path. Finally, a driver model is constructed to follow the gener-ated parking path, and the parking planning method proposed in this paper is compared with other methods.