Autonomous maneuvers of a nonholonomic vehicle

Paromtchik, I.E.; Garnier, Ph.; Laugier, Christian

doi:10.1007/bfb0112969

Cited by 8 publications

(5 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [1], a method using the Lyapunov function is presented to stabilize the vehicle in the parking spot. In [2], an optimization of two parameters is proposed to find the steering angles and the duration of commands to execute the parking maneuvers. These methods strongly depend on gains and parameters chosen for the functions, which can be difficult to adjust and do not ultimately lead to correct parking maneuvers.…”

Section: A State Of the Artmentioning

confidence: 99%

See 1 more Smart Citation

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Vorobieva

Glaser

Minoiu-Enache

et al. 2015

IEEE Trans. Intell. Transport. Syst.

106

View full text Add to dashboard Cite

This paper presents automatic parallel parking for a passenger vehicle, with highlights on a path-planning method and on experimental results. The path-planning method consists of two parts. First, the kinematic model of the vehicle, with corresponding geometry, is used to create a path to park the vehicle in one or more maneuvers if the spot is very narrow. This path is constituted of circle arcs. Second, this path is transformed into a continuous-curvature path using clothoid curves. To execute the generated path, control inputs for steering angle and longitudinal velocity depending on the traveled distance are generated. Therefore, the traveled distance and the vehicle pose during a parking maneuver are estimated. Finally, the parking performance is tested on a prototype vehicle.

show abstract

Section: A State Of the Artmentioning

confidence: 99%

“…Methods based on the use of reference functions are implemented in [1] and [2]. In [1], a method using the Lyapunov function is presented to stabilize the vehicle in the parking spot.…”

Section: A State Of the Artmentioning

confidence: 99%

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Vorobieva

Glaser

Minoiu-Enache

et al. 2015

IEEE Trans. Intell. Transport. Syst.

106

View full text Add to dashboard Cite

show abstract

“…Problem Definition: h-CCP Generation for Lane Change Maneuvering: In a straight lane road, when a static obstacle is detected in front of the vehicle, a lane change path should be generated with minimum lateral acceleration 6 (that is maximum comfort), where only the lateral distance and 6 A lateral acceleration felt by the passenger in the vehicle is defined by a = κv 2 .…”

Section: Problem Definition and Solution Derivationmentioning

confidence: 99%

Safe and Efficient Lane Change Maneuver for Obstacle Avoidance Inspired From Human Driving Pattern

Gim

Lee

Adouane

2022

IEEE Trans. Intell. Transport. Syst.

View full text Add to dashboard Cite

One of the most important and fundamental topics in autonomous navigated vehicle research is the lane change maneuver for obstacle avoidance or overtaking maneuver. In the literature, the lane change maneuver path for car-like vehicles has widely been generated with geometrically smooth segments by solving boundary conditions under given constraints. This paper proposes a new method of continuous curvature path generation for the issue of lane change maneuver for obstacle avoidance while solving the clothoids composition problem using an efficient algorithmic procedure. Conventional approaches resorting to mathematical or engineering optimization without considering human-side activity and response may fail to deliver driving performance that is favorable to humans. The novelty of the proposed method lies in its adoption of a human driving pattern, which is non-symmetric and composed of two different modes of avoidance and recovery during the maneuver, and utilizes the property given by an appropriate iterative algorithm which takes into account all the constraints in order to solve the problem. As compared to conventional methods, the proposed method not only provides overall safety for obstacle avoidance, but also exhibits efficiency of increased comfort and human like steering motion during the lane change maneuver. The proposed path planning method is compared to other methods in order to validate its efficiency for safe and smooth obstacle avoidance maneuver. Index Terms-Continuous curvature path, human driving pattern, clothoid, lane change maneuver, obstacle avoidance, passenger comfort.

show abstract

“…The stable analysis of the parking spot was presented in [4] using the Lyapunov function. The steering angle and command duration for executing the parking maneuvers are obtained using the optimization of two parameters [5]. However, the mentioned approaches rely on the gain and parameters so that it is challenging to evaluate the parking performance.…”

Section: Introductionmentioning

confidence: 99%

Automatic Parking Control of Unmanned Vehicle Based on Switching Control Algorithm and Backstepping

Gao

Zhu

et al. 2022

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

This paper presents a simple control method for the fully automatic parking of an unmanned vehicle. This method is based on the switching control algorithm and backstepping theory. The fully automatic parking is hard to accomplish since it cannot converge to a specified norm, guarantee the convergence rate, and large uncertainties. Global exponential convergence to any prescribed norm bound ( -convergence) is guaranteed, and the convergence rate is explicitly given. For the design of steering laws, a method based on backstepping is proposed and analyzed in detail. The backstepping-based design of a multichain system is obtained. Moreover, an exponentially -convergent control algorithm is adopted to guarantee both converge norm and convergence rate. Real road experiment results are presented and the results show the effectiveness of the control strategies.

show abstract

Autonomous maneuvers of a nonholonomic vehicle

Cited by 8 publications

References 3 publications

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Safe and Efficient Lane Change Maneuver for Obstacle Avoidance Inspired From Human Driving Pattern

Automatic Parking Control of Unmanned Vehicle Based on Switching Control Algorithm and Backstepping

Contact Info

Product

Resources

About