Automatic Parallel Parkinkg Maneuver with Geometric Continuous-Curvature and Trajectory Regenation

Abstract

This paper presents a trajectory generation method for the automatic parallel parking. In the first place, a continuouscurvature path satisfying geometric constraints is generated. During the automated tracking of the trajectory, following errors might appear. Then, if necessary, a new trajectory is generated to correct these errors. The regeneration method presents the same advantages as for the initial path generation (continuous curvature) and allows correcting the deviation of the vehicle. Moreover, the complete functional architecture including the path generation is presented in this article to illustrate the execution of the parking maneuver.