Geometric Path Planning for Automatic Parallel Parking in Tiny Spots

Vorobieva, Hélène; Glaser, Sébastien; Minoiu-Enache, Nicoleta; Mammar, Saïd

doi:10.3182/20120912-3-bg-2031.00008

Cited by 15 publications

(15 citation statements)

References 4 publications

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“…As the reversed geometric approach is particularly close to the human approach and adapted to the parking problem in an industrial context by its simplicity, in a recent work [20], we have extended this method to parking in several trials, with any initial position and orientation of the vehicle, for spots that are just longer than the length of the vehicle. As such a geometric method implies steering at stop, which can wear the tires and heat the electric power steering, we extended it to continuous-curvature path planning with clothoidal curves in [21].…”

Section: A State Of the Artmentioning

confidence: 98%

“…This means that, at the beginning of the maneuver, the car has to be perfectly positioned and parallel to the parking spot. In [20], we propose to allow any initial position and orientation for the vehicle (see Fig. 3).…”

Section: ) Preliminary Definitionsmentioning

confidence: 99%

“…Then, we thoroughly present all the steps that lead to automatic parking, from the trajectory generation (introduced in [20] and [21]) to the execution of the maneuver on a real prototype (as in [22]). …”

Section: B Contribution and Content Of This Papermentioning

confidence: 99%

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Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Vorobieva

Glaser

Minoiu-Enache

et al. 2015

IEEE Trans. Intell. Transport. Syst.

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111

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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.

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Section: A State Of the Artmentioning

confidence: 98%

Section: ) Preliminary Definitionsmentioning

confidence: 99%

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Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Vorobieva

Glaser

Minoiu-Enache

et al. 2015

IEEE Trans. Intell. Transport. Syst.

Self Cite

111

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“…First a geometric path is created with the reversed method (5) . Then the trajectory will be processed to obtain a continuous curvature path.…”

Section: Geometric Path Planning With Circle Arcsmentioning

confidence: 99%

“…Another approach is based on retrieving a vehicle from the parking spot and reversing this procedure. This approach is particularly instinctive and adapted to the parking problems (4) and (5) . However, the curvature of path based on circle arcs is discontinuous: the vehicle has to stop to reorient its front wheels.…”

Section: Introductionmentioning

confidence: 99%

Automatic Parallel Parkinkg Maneuver with Geometric Continuous-Curvature and Trajectory Regenation

Vorobieva

Minoiu-Enache

Glaser³

et al. 2016

IJAE

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This paper presents a trajectory generation method for the automatic parallel parking. In the first place, a continuouscurvature path satisfying geometric constraints is generated. During the automated tracking of the trajectory, following errors might appear. Then, if necessary, a new trajectory is generated to correct these errors. The regeneration method presents the same advantages as for the initial path generation (continuous curvature) and allows correcting the deviation of the vehicle. Moreover, the complete functional architecture including the path generation is presented in this article to illustrate the execution of the parking maneuver.

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Parallel Parking Path Planning and Tracking Control Based on Adaptive Algorithms

Zhou

Xiangmei

et al. 2021

Int.J Automot. Technol.

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Geometric Path Planning for Automatic Parallel Parking in Tiny Spots

Cited by 15 publications

References 4 publications

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Automatic Parallel Parkinkg Maneuver with Geometric Continuous-Curvature and Trajectory Regenation

Parallel Parking Path Planning and Tracking Control Based on Adaptive Algorithms

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