Abstract
Reverse parking requires a high level of steering control, checking the surroundings for safety, and proper car speed management. Therefore, many drivers are not so good at this exercise, and the needs of parking assist are increasing. Moreover, with the increased application of EPS (Electric Power Steering), active wheel speed sensor, and steering angle sensor on vehicles in recent years, steering control that uses only an actuator and the precise estimation of the vehicle position at extremely low speeds have been made possible at low cost. Thus, we developed an advanced parking assist system that integrates these functions. In this paper, we describe the specification and configuration of the system, then focus on the topmost issues in developing the system such as (a) generating a smooth trajectory using clothoid curve, (b) accurate guiding into a trajectory, and describe the respective countermeasures and their effectiveness.
