2015
DOI: 10.1016/j.knosys.2015.04.016
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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… Show more

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Cited by 144 publications
(106 citation statements)
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“…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].…”
Section: Discussionmentioning
confidence: 99%
“…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].…”
Section: Discussionmentioning
confidence: 99%
“…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]: …”
Section: Optimal Control Problem Formulationmentioning
confidence: 99%
“…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 …”
Section: Optimal Control Problem Formulationmentioning
confidence: 99%
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“…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.…”
Section: Preliminariesmentioning
confidence: 99%