A novel design for full automatic parking system

This paper proposed an obstacle orientation algorithm and a path planning of multi-turn mode to apply in automatic parking systems. The vehicle parks at a low velocity by developing a braking strategy. In addition to the design of controllers, a speed trajectory consisting of acceleration, constant speed, and deceleration is planned in order to provide the driver more comfortable feeling. According to the result of the verification tests, the obstacle orientation algorithm could accurately identify the 2D coordinate. And the proposed path planning of multi-turn mode saves one meter than the traditional two-turn mode. It makes the parking space only need 1.28 times the vehicle length. The vehicle control is implemented using Fuzzy-PID tracking control. System performance and tracking ability are verified in hardware and software implementations with very low cost.