Research on Automatic Parking Motion Control Based on A Variable Radius Reeds-Shepp Method

The path planning scheme with a fixed radius can easily lead to too many complex curves. In the actual tracking process, there is an inaccurate tracking, which cannot cope with the environmental factors such as narrow space and many obstacles that automatic parking technology often faces, so that there is a risk of inability to park. In view of the above problems, this study proposes a variable radius Reeds-Shepp curve method to search for parking and exiting route paths in narrow parking conditions. The identified routes are optimized to obtain the final desired path. A pure tracking method is then employed to track the optimal path, ensuring that the results meet the narrow parking requirements set in the article. The pure tracking method is used to track the planned optimal path, so that the result can meet the narrow parking space requirements set in the article. Finally, in this study, a simulation environment is constructed using Prescan and Matlab/Simulink to address the parking entry and exit scenarios for simulation purposes. The results show that the variable radius Reeds-Shepp curve method used in this paper can search for a more superior path and can accurately track the planned desired path to achieve safe parking behavior.