Study on path planning and tracking algorithm for autonomous parking system of semi-trailers

Semi-trailers have the advantage that maximum load capacity is large. However, there are some problems high driving skill required because it necessary to perform unique steering during turning or backward driving. This paper proposes a path planning and tracking algorithm for autonomous parking of semi-trailers. The planner determines target position in accordance with given environment including obstacles. Furthermore, control system desinged handle stabilize hitch angle. proposed method both focuses on vehicle’s terminal state at position, finds solution time-inverse order actual sequence. simulations performed effectiveness verified.