A Research on Path Generating and Tracking Algorithm for Auto Valet Parking System Based on Improved Sensor Performance

This paper proposes a method for creating a path for parking autonomous vehicles regardless of the distance and the position of the parking space, using a vehicle with sensor performance superior to existing ultrasonic and camera-based sensors. While conventional methods have a limited parking detectionarea, the proposed method has a greater free parking detection area. In addition, to follow the generated path, a new tracking algorithm was employed tofollow the path. And then, in order to eliminate the ‘Path following error’ caused by the difference between the steering speed and the vehicle speed, it used a new algorithm for the longitudinal controller to perform perfect parking. This paper then experimentally shows to demonstrate a path planning andpath tracking method for the Auto Valet Parking System.