An Improved Path Tracking Algorithm for Intelligent Vehicle in Automatic Parking Conditions

A feedforward and feedback path tracking algorithm appropriate for automatic parking is proposed in this paper. This algorithm is composed of feedforward control and feedback control. In the path tracking, vehicle position and reference path information are used to calculate the lateral and heading error of the vehicle as well as the curvature of reference path, and put these three as the system inputs, the steering angel of the vehicle as the output. The system parameters are settled by multiple tests. Experiments show that, this method has a high performance in path tracking and meets the requirements of vehicle parking in both low speed situation and narrow spaces.