Trajectory planning and fuzzy control for perpendicular parking

This paper discusses about the trajectory planning and controlled maneuvering of the vehicle in parking assist mode. The objective of the proposed algorithm is to use low-cost hardware like ultrasonic sensor in order to provide automated parking assist to the vehicle. The concept of grid occupancy is formulated in free space detection algorithm to compute lateral-longitudinal grid cell vacancy. The vehicle will enable automated parking assist mode for controlled maneuvering on completion of free space detection followed by path planning. The reference planned path is an optimized trajectory with single maneuver for the vehicle to traverse in a free parking space. The localized trajectory and control algorithm of the perpendicular parking have been designed with reference to perception sensor input. The controller facilitates the intelligent navigation of vehicle based on measured obstacle free clearance distance and reference point. The steering control algorithm based on fuzzy logic is designed to provide an optimized maneuvering of the host vehicle in perpendicular parking space. In order to ease parking effort, an innovative approach of combined feedback and feed-forward based fuzzy controller has been illustrated. The controller performance has been evaluated in simulation environment keeping vehicle dynamics model in loop. The test scenario has been modeled in Carmaker to substantiate the optimization of route selection and a smooth transition of vehicle in parking assist mode during maneuvering into an empty parking space.