A Parking Trajectory Planning Method based on Geometric Constraints
作者： Hongye Su , Lei Xie , Zhiming Zhang
DOI: 10.1109/CAC51589.2020.9327525
关键词:
摘要: Planning a safe trajectory is crucial procedure for autonomous parking. In existing approaches, parking trajectories are usually designed without considering the evolution from one configuration to next configuration. Hence, these probably unfeasible in some scenarios. To address this problem, guaranteed collision-free planning method proposed paper. A dynamic optimization problem built, which includes vehicle kinematics, collision avoidance and physical constraints. describe constraints, concepts of virtual protection frame (VPF) magnification parameter introduced. It highlighted that novel detection criterion raised view geometry. parallel scenario, it illustrated generated by more feasible than conventional method.
sci-hub.st 参考文章(18)
M. Diehl, H.G. Bock, H. Diedam, P.-B. Wieber, Fast Direct Multiple Shooting Algorithms for Optimal Robot Control Lecture Notes in Control and Information Sciences. ,vol. 340, pp. 65- 93 ,(2006) , 10.1007/978-3-540-36119-0_4
Jason Kong, Mark Pfeiffer, Georg Schildbach, Francesco Borrelli, Kinematic and dynamic vehicle models for autonomous driving control design ieee intelligent vehicles symposium. pp. 1094- 1099 ,(2015) , 10.1109/IVS.2015.7225830
Lorenz T. Biegler, An overview of simultaneous strategies for dynamic optimization Chemical Engineering and Processing. ,vol. 46, pp. 1043- 1053 ,(2007) , 10.1016/J.CEP.2006.06.021
Dmitri Dolgov, Sebastian Thrun, Michael Montemerlo, James Diebel, Path Planning for Autonomous Vehicles in Unknown Semi-structured Environments The International Journal of Robotics Research. ,vol. 29, pp. 485- 501 ,(2010) , 10.1177/0278364909359210
Steven M. LaValle, James J. Kuffner, Randomized kinodynamic planning The International Journal of Robotics Research. ,vol. 20, pp. 378- 400 ,(2001) , 10.1177/02783640122067453
Plamen Petrov, Fawzi Nashashibi, Modeling and Nonlinear Adaptive Control for Autonomous Vehicle Overtaking IEEE Transactions on Intelligent Transportation Systems. ,vol. 15, pp. 1643- 1656 ,(2014) , 10.1109/TITS.2014.2303995
Bai Li, Zhijiang Shao, A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles Knowledge Based Systems. ,vol. 86, pp. 11- 20 ,(2015) , 10.1016/J.KNOSYS.2015.04.016
Tianyu Gu, John M. Dolan, On-Road motion planning for autonomous vehicles international conference on intelligent robotics and applications. pp. 588- 597 ,(2012) , 10.1007/978-3-642-33503-7_57
Maxim Likhachev, Dave Ferguson, Thomas M. Howard, Motion planning in urban environments Journal of Field Robotics. ,vol. 25, pp. 939- 960 ,(2008) , 10.1002/ROB.V25:11/12
Joshue Perez Rastelli, Ray Lattarulo, Fawzi Nashashibi, Dynamic Trajectory Generation Using Continuous-Curvature Algorithms for Door to Door Assistance Vehicles ieee intelligent vehicles symposium. pp. 510- 515 ,(2014) , 10.1109/IVS.2014.6856526