Design of Collision Free Automated Angular Parking

In this paper, the vehicle motion control for an automated angular reverse parking has been formulated and designed to track the planned path during auto angular park assist mode and aided in parking the vehicle diagonally in the parking slot without any side or rear collision. The diagonal reverse parking is one of the complicated functionalities and the quintessential features of the angular park assist system described in this paper helps the drivers for a successful maneuver during reverse parking. The architecture of the designed angular parking system which includes components such as situation assessment, mode manager, path planning, and controllers are formulated in enterprise architect. The trajectory for angular parking is designed for single maneuvering based on geometry and dynamics of vehicle maneuver which includes combination of circular, straight path during forward and reverse maneuver mode. The composite reverse motion control, including longitudinal support with braking to lateral controller, has been designed to follow the designed diagonal path precisely. The look rear concept based lateral motion control has been proposed in this paper to perform a successful parking while tracking planned trajectory. The objective of this research is to aid system to navigate host vehicle in a parking zone and help the system to follow planned trajectory precisely by minimizing the point-to-point positional error. The performance of proposed angular parking-controlled system is validated with kinematic vehicle model of Carmaker in loop while evaluating against pre-defined key performance indices of an angular parking.