Geometric path planning for parallel parking on double side parked narrow streets

Authors : Emrecan Hatipoglu, Mert Kadir Assoy, Mesut Kaya, Mert Ezim, Mete Oğuz, Emir Kutluay

Pages : 326-343

Doi:10.51513/jitsa.1311698

View : 164 | Download : 256

Publication Date : 2023-10-23

Article Type : Research Paper

Abstract :The aim of the paper is to propose collision-free path planning algorithm for autonomous parallel parking based on Ackermann steering geometry. A geometrical path planning algorithm has been employed for generating a path that is based on two straight lines and two identical circles. The algorithm is taking into account that the left side of the street is taken as another parking slot occupied by full of cars. The ego’s kinematics model appropriate for the low-velocity parking scenario and the maximum allowable steering angle for the narrow streets is used in the path planning stage by considering mechanical and environmental limits. According to the steering angle, required length of the parking space is obtained. The algorithm can adapt itself according to the lateral position of the ego in case it is parallel to other parked cars. The steering angle to be used and the required parking space length according to the lateral position of the vehicle in the environmental model are given with graphics.
Keywords : Otonom paralel park, yol planlama, Ackermann yönlendirme geometrisi, sürücü asistan sistemleri