Path Planning and Tracking for Vehicle Parallel Parking Based on Preview BP Neural Network PID Controller

In order to diminish the impacts of extemal disturbance such as parking speed fluctuation and model un- certainty existing in steering kinematics, this paper presents a parallel path tracking method for vehicle based on pre- view back propagation （BP） neural network PID controller. The forward BP neural network can adjust the parameters of PID controller in real time. The preview time is optimized by considering path curvature, change in curvature and road boundaries. A fuzzy controller considering barriers and different road conditions is built to select the starting po- sition. In addition, a kind of path planning technology satisfying the requirement of obstacle avoidance is introduced. In order to solve the problem of discontinuous curvature, cubic B spline curve is used for curve fitting. The simulation results and real vehicle tests validate the effectiveness of the proposed path planning and tracking methods.