Automatic Vertical Parking Path Planning Based on Clothoid Curve

Abstract:
In order to solve the problem of automatic parking of vehicles under the non-zero initial heading angle, this paper proposes a vertical parking path planning method based on the clothoid curve. When the parking space position and size, vehicle position and heading angle are known, the vehicle can adjust the heading angle by clothoid curve combination, and drive to the designative parking point to complete the parking. The analysis of vehicle outline curve, trajectory curvature change curve and vehicle heading angle change curve shows that the path planning method can effectively solve the problem that the initial heading angle is not 0.