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Automatic parallel parking with geometric continuous-curvature path planning

Hélène Vorobieva 1 Sébastien Glaser 2 Nicoleta Minoiu-Enache 1 Saïd Mammar 3
1 Technocentre Renault [Guyancourt]
2 IFSTTAR/COSYS/LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs
3 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : This paper presents the experimental results of our path planning for a passenger vehicle in parallel parking problems. The generation of the path planning consists in two parts: create a simple geometric path for the parallel parking in one or more maneuvers by circle arcs and then transform it into a continuous-curvature path with the use of clothoids. Experimental results of the parking and of the localization of the vehicle confirm the chosen approach.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01059580
Contributor : Frédéric Davesne <>
Submitted on : Monday, September 1, 2014 - 12:29:43 PM
Last modification on : Tuesday, December 8, 2020 - 10:20:49 AM

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IBISC | IBISC-SIBI | UNIV-EVRY | IFSTTAR | TDS-MACS

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Hélène Vorobieva, Sébastien Glaser, Nicoleta Minoiu-Enache, Saïd Mammar. Automatic parallel parking with geometric continuous-curvature path planning. 25th IEEE Intelligent Vehicles Symposium (IV 2014), Jun 2014, Dearborn, MI, United States. pp.465--471, ⟨10.1109/IVS.2014.6856443⟩. ⟨hal-01059580⟩

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