Study on path planning and tracking algorithm for autonomous parking system of semi-trailers

Semi-trailers have the advantage that the maximum load capacity is large. However, there are some problems that high driving skill is required because it is necessary to perform unique steering during turning or backward driving. This paper proposes a path planning and tracking algorithm for autonomous parking of semi-trailers. The path planner determines the parking path to the target parking position in accordance with the given parking environment including obstacles. Furthermore, the steering control system is desinged to handle the path tracking and stabilize the hitch angle. The proposed path planning method and tracking control are both unique in that it focuses on the vehicle's terminal state at the target parking position, and finds the solution in the time-inverse order of the actual driving sequence. The parking simulations is performed and the effectiveness of the proposed method is verified.