Path Tracking and Control for Parallel Parking

This paper demonstrates path planning and motion control for an automated parallel parking. The ultrasonic sensor based parallel parking control algorithm provides parking assist to ease the effort of driver. The trajectory for parking maneuver is generated based on the path planning algorithm to assist vehicle in the identified space with single maneuver. The lateral control with longitudinal aid provides accurate maneuver of the vehicle in a parking space. The performances of proposed fuzzy and conventional lateral control are compared to highlight the benefit of the proposed integrated fuzzy based lateral control with longitudinal aid. The lateral controlled steering command is fed to the system to maneuver the host vehicle successfully in parallel parking space. The novel approach of fuzzy based integrated feedback and feed-forward control for parallel parking has been illustrated in the paper as an optimized resolution for trajectory tracking in limited space parking application. The model based development approach has been adopted to develop path plan and control, however the designed model gets integrated with vehicle dynamics of CarMaker to validate the parking efficiency. The case study of parallel parking has been demonstrated in the research paper to comprehend the significance of path planning and rule based motion control.