Parallel Parking Path Planning and Tracking Control Based on Adaptive Algorithms

Aiming at the sudden change of path curvature in traditional bi-arc parking trajectory planning, an improved bi-arc parking trajectory fitting method is proposed to meet the requirements of curvature and steering angular velocity of parking path. The minimum parking space size and feasible parking starting area are obtained by calculation. Then, parking path tracking is controlled based on adaptive algorithm, and the adaptive algorithm is optimized and compensated, so that the path tracking error is controlled in a small range. Two kinds of parking conditions are designed according to the limit position of the feasible parking starting area. The proposed method is verified by simulation in MATLAB, and dynamic simulation is carried out in CARSIM software. The practical driving of the intelligent experimental vehicle is used to verify whether the relevant methods and functions of the proposed parallel parking system can meet the design requirements. The results show that the proposed method can be applied to parking path planning at any location in the feasible parking starting area.