A PARKING PATH PLANNING METHOD BASED ON CIRCULAR ARCS AND LINES

In recent years, there has been a shortage of parking spaces in many areas as the number of vehicles. Moreover, the parking space for each car may be narrowed, due to increase the number of parking spaces. As a result, parking spaces become narrower and accidents in the parking lot caused by inexperienced drivers are increasing. Thus, driving assistance functions such as automatic parking systems that perform parking tasks on behalf of the driver have recently become widespread. Facilities such as shopping malls and coin-operated parking lots have small parking spaces and are difficult to park. It is expected that the number of accidents caused by inexperienced drivers will decrease. In this paper, we propose a new method to search for a path that allows parking in a narrow parking environment from the start position to the parking target location by generating a path based on map information, arcs and straight lines. We propose a path generation method that is closer to human decision-making by effectively using arcs and straight lines.