Trajectory planning for automated buses in parking areas

Automated Vehicles (AVs) are complex, and they require solutions in different areas such as perception, communications, decision, and control. In urban environments, path planning for parking maneuvers is a relevant feature. There is a good amount of research on this topic considering passenger cars. However, there are some gaps considering automated buses. This work proposes a path planning approach for parking an automated bus that targets the fewer possible trajectories to complete the parking maneuver. The algorithm considers the vehicle geometry, its kinematics, and the blockage or availability of the surrounding parking spaces, to create a set of trajectories to complete the parking maneuver. The approach was tested in simulation environments considering an electric Gulliver minibus in the framework of the European project SHOW.