  This paper presents an integrated motion planning system for autonomous
vehicle (AV) parking in the presence of other moving vehicles. The proposed
system includes 1) a hybrid environment predictor that predicts the motions of
the surrounding vehicles and 2) a strategic motion planner that reacts to the
predictions. The hybrid environment predictor performs short-term predictions
via an extended Kalman filter and an adaptive observer. It also combines
short-term predictions with a driver behavior cost-map to make long-term
predictions. The strategic motion planner comprises 1) a model predictive
control-based safety controller for trajectory tracking; 2) a search-based
retreating planner for finding an evasion path in an emergency; 3) an
optimization-based repairing planner for planning a new path when the original
path is invalidated. Simulation validation demonstrates the effectiveness of
the proposed method in terms of initial planning, motion prediction, safe
tracking, retreating in an emergency, and trajectory repairing.
