Automatic parallel parking and returning to traffic manoeuvres

Paromtchik, I.E.; Laugier, Christian

doi:10.1109/iros.1997.656803

Cited by 12 publications

(8 citation statements)

References 5 publications

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“…Research studies that considered general parking scenarios are scarce. Apart from Paromtchik & Laugier's three publications in the early years (i.e., [28][29][30]), no other reverent studies can be found, to the best of our knowledge. As a brief summary, no study has solved or can solve the aforementioned three issues altogether.…”

Section: Introductionmentioning

confidence: 85%

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

Shao

2015

Knowledge-Based Systems

140

101

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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.

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Section: Introductionmentioning

confidence: 85%

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

Shao

2015

Knowledge-Based Systems

140

101

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“…The necessary conditions are given in essay [11], and a complex algorithm for solving flat outputs is given in essay [12]. in practical applications, a set of outputs is often selected according to physical meaning, and then it is verified whether the set of outputs conforms to formula (5).…”

Section: Definition Of Differential Flatnessmentioning

confidence: 99%

“…Literature [4] proposed an easy way to plan the parking trail based on two tangent circular arcs. Literature [5] compute the parking path through fitting sinusoidal curve based on regression algorithm. Multi-constrained optimization method is used in [6] to plan the ideal parking path through fitting arctangent curve.…”

Section: Introductionmentioning

confidence: 99%

A Trajectory Planning Method based on B-spline Algorithm for Automatic Parking Systems

Ye¹,

Ji²,

Zhao³

2019

Proceedings of the 3rd International Conference on Computer Engineering, Information Science &Amp; Application Technology (ICCI

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This paper proposes a Trajectory planning method for automatic parallel parking system. The planning method consists of two part. First, the feasible area of parking, is used to find the starting position and azimuth of the parking. Second, planning the parking trajectory. the vehicle can be safely and accurately parked in the parking space, with the avoidance of sudden changes of speed and steering angle. The experimental results show that this algorithm finds a suitable starting point and parking trajectory in each parking space environment.

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“…Our local planner builds on the existing work in discrete search in unknown environments (e.g., [13], [8], [21]), as well as kinematic forward search [12], [16], [26] and nonlinear optimization in the space of 2D curves [4]. Whereas strategies for specific dedicated parking maneuvers have been developed [22], [23] and nowadays are even available in off-the-shelf vehicles, these systems perform autonomous navigation only in a short range and are not able to plan complex navigation tasks through entire parking structures. The work probably most closely related to ours is that of Schanz et al [27] who developed an autonomous parking system in a subterranean parking structure.…”

Section: Introductionmentioning

confidence: 99%

Autonomous driving in a multi-level parking structure

Kümmerle

Hähnel

Dolgov³

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-Recently, the problem of autonomous navigation of automobiles has gained substantial interest in the robotics community. Especially during the two recent DARPA grand challenges, autonomous cars have been shown to robustly navigate over extended periods of time through complex desert courses or through dynamic urban traffic environments. In these tasks, the robots typically relied on GPS traces to follow pre-defined trajectories so that only local planners were required. In this paper, we present an approach for autonomous navigation of cars in indoor structures such as parking garages. Our approach utilizes multi-level surface maps of the corresponding environments to calculate the path of the vehicle and to localize it based on laser data in the absence of sufficiently accurate GPS information. It furthermore utilizes a local path planner for controlling the vehicle. In a practical experiment carried out with an autonomous car in a real parking garage we demonstrate that our approach allows the car to autonomously park itself in a large-scale multi-level structure.

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Automatic parallel parking and returning to traffic manoeuvres

Cited by 12 publications

References 5 publications

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

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

A Trajectory Planning Method based on B-spline Algorithm for Automatic Parking Systems

Autonomous driving in a multi-level parking structure

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