Automatic parallel parking and returning to traffic manoeuvres

This paper describes the control approach developed to perform parallel parking and returning to traffic manoeuvres for a car capable of autonomous motion. The key idea is to carry out a motion control procedure involving a “localization-planning-execution” cycle until a specified location of the car relative to its environment is reached. Range measurements are used to model environmental objects around the car. The automatic manoeuvres developed are demonstrated on an experimental electric autonomous car in a usual traffic environment