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The parking environment for drivers is now increasingly complex, and parking has become a driving phenomenon with high incidence of accidents. To solve the problem, a method of path planning for autonomous parking was proposed based on improved β-spline theory. The vehicle kinematical model was established, and considering the vehicle kinematics and electric power steering(EPS) performance requirements in parking environment, the path collision avoidance constraints and the vehicle steering wheel angle and angular velocity constraints were established. The simulation model was built by Matlab/Simulink. According to the actual parking scenario, three autonomous parallel parking conditions were designed, and the path planning was simulated. The results show that the proposed algorithm can realize autonomous parking for different sizes of parking lot, and the planned path curvature is continuous with slowly changed curvature. The vehicle kinematics and EPS performance requirements can be met with high parking efficiency. [ABSTRACT FROM AUTHOR]

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