Autonomous Parking System for Vehicles: Trajectory Planning and Control

This paper presents an autonomous car parking system. First, a path planning algorithm is designed to generate the required trajectory to park the vehicle in narrow spaces while avoiding the collision with other parked vehicles. Nonholonomic constraints of the vehicle are taken into account while designing smooth parking trajectories. Various parking situations like parallel, forward and backward parking are considered. A Linear Quadratic Regulator (LQR) controller is then designed to track the obtained path precisely. The designed algorithms are implemented in MATLAB/Simulink and effectiveness of the algorithm is shown through simulation results.