Aiming at the sudden change of path curvature in traditional bi-arc parking trajectory planning, an improved bi-arc parking trajectory fitting method is proposed to meet the requirements of curvature and steering angular velocity of parking path. The minimum parking space size and feasible parking starting area are obtained by calculation. Then, parking path tracking is controlled based on adaptive algorithm, and the adaptive algorithm is optimized and compensated, so that the path tracking error is controlled in a small range. Two kinds of parking conditions are designed according to the limit position of the feasible parking starting area. The proposed method is verified by simulation in MATLAB, and dynamic simulation is carried out in CARSIM software. The practical driving of the intelligent experimental vehicle is used to verify whether the relevant methods and functions of the proposed parallel parking system can meet the design requirements. The results show that the proposed method can be applied to parking path planning at any location in the feasible parking starting area.

针对传统双弧停车轨迹规划中路径曲率突变的问题，提出一种改进的双弧停车轨迹拟合方法，以满足停车路径曲率和转向角速度的要求。通过计算得到最小停车位面积和可行停车起始面积。然后，基于自适应算法控制停车路径跟踪，并对自适应算法进行优化和补偿，使路径跟踪误差控制在较小范围内。根据可行停车起始区的极限位置设计了两种停车条件。在MATLAB中仿真验证了所提出的方法，并在CARSIM软件中进行了动态仿真。通过智能实验车的实际驾驶，验证所提出的平行停车系统的相关方法和功能是否能够满足设计要求。结果表明，该方法可应用于可行停车起始区域内任意位置的停车路径规划。