Abstract: In order to solve the issues of pivot steering, poor real-time performance and insufficient accuracy in existing vehicle parking algorithms, on the basis of drawing on the experiences of skilled drivers, the mechanism of each stage of vehicle parking process is analyzed with corresponding mathematical models worked out, and a novel automatic parking programming algorithm is designed. The algorithm covers three parts: parking control, steering control and speed control. In parking control, parking path is planned and the desired steering angle and vehicle speed are output. Steering control is for controlling the starting moment of reverse steering, while speed control aims to control the vehicle speed in parking process. Results of simulation show that the algorithm proposed can achieve accurate automatic parking, meeting the requirements of both accuracy and real-time performance in parking control.

Key words: automatic parking, path planning, driving experience, parallel parking