Two segments (Plus) path planning of automatic parking assist system for 4WS vehicles

Yiwen Huang, Thiagarajan Chidambareswaran, Chuan Chang, Yan Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In some restricted urban parking environment, conventional automatic parking assist system (APAS) may not be applicable due to the dimension limitations of the parking lot. To handle these situations, a novel ASPS for four-wheel steering (4WS) vehicles is proposed in this paper. In the proposed novel APAS, the suitable parking space is first identified through low-cost ultrasonic sensors mounted around the vehicle. Then, depending on the vehicle initial position, various compact and smooth parking paths are generated. With the full utilization of the 4WS system, the proposed path planning algorithm can allow a larger initial parking area and generate simple 2 or 2 segments plus parking paths, which can be easily tracked by the 4WS vehicles. The proposed APAS for 4WS vehicles makes the automatic parking process in restricted spaces more efficient. To verify the feasibility and effectiveness of the proposed APAS, a 4WS vehicle prototype is applied for validations through both simulation and experiment results.

Original languageEnglish (US)
Title of host publicationAdvanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859148
StatePublished - 2019
EventASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
Duration: Oct 8 2019Oct 11 2019

Publication series

NameASME 2019 Dynamic Systems and Control Conference, DSCC 2019


ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Country/TerritoryUnited States
CityPark City


  • 4WS
  • Automatic parking assist system
  • Path planning
  • Ultrasonic sensor

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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