A Novel Algorithm for Automatic Parallel Parking a Car Based On Continuous-Curvature Clothoid Path Planning

Nowadays making car intelligent consists wide range of their subsystems control. Intelligent Parallel parking without human interposition can be mentioned as an automobile industrial achievement in recent years. It had been tried in this paper with a new algorithm based on specification of continuous curvature clothoid to design a suitable path for parallel parking. Car movement in this smooth path is safe, continuous and with constant velocity. By this algorithm, the system can park the car with single maneuver in a space with 1.6 times of car length. One of the advantages of our new algorithm is control method of car movement to the parking slot. In this method we change the question of controlling car movement in desired path, to question of control the velocity of the car to desired value. So we could reach more precision in car movement from start to goal position. As steering and linear car velocities are constant, car will move in stable speed and smooth path while driving to the parking slot, so our algorithm has more driving comfort in comparison with other path planning algorithms. The results of implementation in real situations shows high accuracy and popper performance compared with other algorithms.