Geometric Path Plans for Perpendicular/Parallel Reverse Parking in a Narrow Parking Spot with Surrounding Space

Abstract

This study proposes geometric path plans composed of two stages to automatically perform perpendicular and parallel parking with a reverse path in a narrow space. In perpendicular parking, the minimum width of the available parking spot is computed before the start of the parking operation, and the availability of parking and the optimal stage of the path plan are determined by considering the surrounding space together. In a similar concept, even in parallel parking, it is possible to determine whether to park by calculating the minimum length of the available parking spot and the number of repetitions of motion before starting the parking operation. The theoretical results for the parking spot and surrounding space related to the geometric path plans of perpendicular and parallel parking were confirmed through model car tests. Efficient automatic parking will be enabled by selecting and establishing an appropriate path plan along with the availability of parking in consideration of the parking spot and the surrounding space before starting the parking operation.