@article{article_1311698, title={Geometric path planning for parallel parking on double side parked narrow streets}, journal={Akıllı Ulaşım Sistemleri ve Uygulamaları Dergisi}, volume={6}, pages={326–343}, year={2023}, DOI={10.51513/jitsa.1311698}, author={Hatipoglu, Emrecan and Assoy, Mert Kadir and Kaya, Mesut and Ezim, Mert and Oğuz, Mete and Kutluay, Emir}, keywords={Autonomous parallel parking, path planning, Ackermann steering geometry, driver assistance systems}, abstract={The aim of the paper is to propose collision-free path planning algorithm for autonomous parallel parking based on Ackermann steering geometry. A geometrical path planning algorithm has been employed for generating a path that is based on two straight lines and two identical circles. The algorithm is taking into account that the left side of the street is taken as another parking slot occupied by full of cars. The ego’s kinematics model appropriate for the low-velocity parking scenario and the maximum allowable steering angle for the narrow streets is used in the path planning stage by considering mechanical and environmental limits. According to the steering angle, required length of the parking space is obtained. The algorithm can adapt itself according to the lateral position of the ego in case it is parallel to other parked cars. The steering angle to be used and the required parking space length according to the lateral position of the vehicle in the environmental model are given with graphics.}, number={2}, publisher={Bandirma Onyedi Eylul University}