| 摘要 |
The present invention relates to a method for defining a parking trajectory for a vehicle (1) from a lane (12) into a free parking space (10), via one or more parallel parking type manoeuvres, comprising the following steps: determining the length (L) of the free space (10); and determining an optimal trajectory for the movement of the vehicle (1) via successive circular arcs, characterised in that it comprises a step of converting at least one of the circular arcs into a curve of continuous radius of curvature, having the same start and end points as the circular arc that it replaces. |
