A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

Abstract

a b s t r a c tThis paper proposes a motion planner for autonomous parking. Compared to the prevailing and emerging studies that handle specific or regular parking scenarios only, our method describes various kinds of parking cases in a unified way regardless they are regular parking scenarios (e.g., parallel, perpendicular or echelon parking cases) or not. First, we formulate a time-optimal dynamic optimization problem with vehicle kinematics, collision-avoidance conditions and mechanical constraints strictly described. Thereafter, an interior-point simultaneous approach is introduced to solve that formulated dynamic optimization problem. Simulation results validate that our proposed motion planning method can tackle general parking scenarios. The tested parking scenarios in this paper can be regarded as benchmark cases to evaluate the efficiency of methods that may emerge in the future. Our established dynamic optimization problem is an open and unified framework, where other complicated user-specific constraints/optimization criteria can be handled without additional difficulty, provided that they are expressed through inequalities/polynomial explicitly. This proposed motion planner may be suitable for the next-generation intelligent parking-garage system.

Self-Driving Car - A Computer will Park for You

“…In addition, the parking slots will be signified according to the vehicle type. As a result the parking slots will not be at the size of the largest potential vehicle [36].…”

Spatio-temporal decomposition: a knowledge-based initialization strategy for parallel parking motion optimization

“…Kinematics of a front-steering automobile is described through differential equations [20]: In addition, several interior constraints should be imposed to guarantee physical realizability and tracking convenience [38]: …”

“…The collision-avoidance restrictions can be precisely described through the recently proposed "triangle area based criterion" [20]: when rectangle ABCD is required not to collide with rectangle EFGH (for example, Fig. 2 …”

“…Given the complexity and unification of this formulated optimal control problem, analytical solutions are generally unobtainable [18]. An alternative method to solve optimal control problems is by converting them into parameter optimization problems, that is, nonlinear programming (NLP) problems [19][20][21]. However, the corresponding NLP problems are NP-hard and have hindered a vast of research efforts in robotics [18].…”

Integrated model of assisted parking system and performance evaluation with entropy weight extended analytic hierarchy process and two-tuple linguistic information

“…24 Drivers only need to control the driving speed of cars, as shown in Figure 1. Assisted parking system is the current research hotspot in car driving-assisted technology field and involves the knowledge about electromagnetism, environment-aware sensor, signal processing, information fusion, model identification, automatic control and electric power steering direction, and automotive electronics.…”