A Local Path Planning for Perpendicular Parking in Limited Parking Spaces

This paper presents a local path planning algorithm for perpendicular parking of an autonomous vehicle. We propose an optimal path planning algorithm based on circle and line combination in the presence of predefined obstacles. We formulate collision avoidance conditions using equality and inequality constraints. We solve a generalized optimization problem with the constraints, which minimizes an arc-length of the parking path. We validate the performance of the perpendicular parking path generation algorithms for various parking spaces in MATLAB environments.