Research on multi-directional automatic parking of Ackerman car model such as vertical parking, parallel parking and oblique parking

With the development of science and technology, the automatic parking has become the hot issue of concern. Determining the optimal parking location and path based on the CRITIC weight method is the key issue to solve the problem of automatic parking. Several related factors should be considered such as the steering wheel speed and degree of motor. In this paper, we design the optimal parking location and path for the automatic parking. Firstly, the Ackerman physical model of the vehicle is constructed with some constrained basic parameters and function relations. Later, the automatic parking physical model is constructed. Then the path planning and design modeling is carried out by taking vertical parking, parallel parking and oblique parking as research objects. By constructing the “two-arc” model and “multi-arc” model, the three cases are modeled respectively. The parking trajectory is calculated and processed by sections, and the visual trajectory and parameter level are obtained by using Python and MATLAB programming for motion tracking calculation. In conclusion, the optimal path planning and parameter changes of three main parking space models in the process of automatic parking are studied and obtained through modeling analysis.