Automatic Vertical Parking Path Planning Based on Clothoid Curve and Stanley Algorithm

In order to improve the convenience and safety of vehicles in the process of automatic parking, an automatic vertical parking path planning method based on clothoid curve is proposed. When the environmental information and vehicle information are known, such as parking space position and size, vehicle position and heading angle, etc., considering the obstacle avoidance constraints and spatial constraints of the vehicle, a curvature continuous driving path is planned by using the clothoid curve to park the vehicle into the vertical parking space, and the vehicle is tracking controlled according to the Stanley algorithm. Considering the uncertainty of driver's behavior, the vehicle has a random initial heading angle before parking. For different initial heading angles, the vertical parking path planning of the vehicle is carried out, and its path planning and tracking control are simulated. The simulation results show that when the vehicle is in different initial positions and heading angles, this path planning method can better plan a parking path, and the tracking effect is good.