Automatic Perpendicular Parking Trajectory Planning and Following for Vehicle

This paper considers the perpendicular parking problem of front wheel steering vehicles. a collision-free reverse perpendicular parking in one maneuver is presented. At any initial position and orientation of the vehicle, a reference parking trajectory can be established by building relationships between the widths of the parking aisle and the parking place as well as the initial position of the vehicle. Furthermore, the B-spline algorithm is used to optimized the reference trajectory, and the continuity of trajectory curvature is realized. Then, a trajectory following scheme based on Model Predictive Control (MPC) algorithm is proposed for intelligent vehicles, and the trajectory tracker based on MPC algorithm is built. The feasibility of this method is verified through simulations, and the results indicate that the designed MPC controller has excellent robustness and can minimize the following error.