A Trajectory Planning Method based on B-spline Algorithm for Automatic Parking Systems

Abstract. This paper proposes a Trajectory planning method for automatic parallel parking system. The planning method consists of two part. First, the feasible area of parking, is used to find the starting position and azimuth of the parking. Second, planning the parking trajectory. the vehicle can be safely and accurately parked in the parking space, with the avoidance of sudden changes of speed and steering angle. The experimental results show that this algorithm finds a suitable starting point and parking trajectory in each parking space environment.