Research on Non-Parallel Initial State Trajectory Generation Method for Automatic Parking System

A non-parallel initial state trajectory generation method for automatic parking system was presented. Combining with vehicle kinematics model, the vehicle motion path with kinematics constrains condition was analyzed. The vehicle initial attitude information can be matched with the image information, and the complete parking trajectory composed of 3 tangent arcs was generated based on the overall situation plan. Compared with traditional trajectory generation method, experimental results show its better robustness. The vehicle initial attitude is in the range of ±15°and parking environment is 6.0 m×2.3 m, demo cars experimental results show the parking success rates of the presented method is about 90%.