협소 주차 공간에서의 N-Circles 경로 생성 기법

Abstract

This paper proposes a new and practical local path planning for a perpendicular parking scenario in a narrow parking space. In this paper, we introduce N-Circle Path Planning in Narrow Parking Space, which guarantees simple and has low computation time. We perform the path planning algorithm by generating circles and lines, which guarantees the collision avoidance conditions with the surrounding obstacles. We established safe parking conditions for collision avoidance maneuvers by formulating the parking spaces as constraints using the vehicle’s forward circle motion and backward circle motion. Then, we introduce a generalized optimization problem to solve perpendicular parking. The proposed path planning method was validated and analyzed with several parking scenarios. The effectiveness of the proposed system is conducted with MALAB/Simulink.