Application of Sigmoidal Gompertz Curves in Reverse Parallel Parking for Autonomous Vehicles

Abstract

A new method for the planning and autonomous execution of a single-trajectory, velocity-independent, parallel parking manoeuvre for autonomous vehicles is presented. The procedure commences with the identification and preselection of a smooth sigmoidal trajectory known as the Gompertz curve in parametric format. Trajectory parameters are determined in real-time during the path-planning phase using an optimization scheme in order to generate a candidate path. The optimization scheme takes into account the maximum steering angles that can be physically realized and checks the generated candidate trajectory for collisions. Thereafter, the trajectory is reparametrized to arc-length format using the cubic interpolation method and the vehicle orientation at every point of the trajectory is deduced. Following that, values of the steering angle(s) are determined. In the final step, the vehicle uses deadreckoning to follows the arc-length parametrized path in reverse in order to park itself in a single-manoeuvre. The proposed method is substantiated through both extensive simulations and real sensor data.

Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

“…Automatic parking technology refers to the parking process that completes the parking operations safely and quickly without a driver and can effectively improve driving comfort while greatly reducing the probability of accidents during parking. Also, the promotion of automatic parking technology can promote the development and deployment of autonomous driving and intelligent vehicles [4][5][6][7][8][9][10].…”

Trajectory planning and tracking control for autonomous parallel parking of a non-holonomic vehicle

“…Zhao et al 17 planned the collision-free smooth trajectory based on Bezier curve for the autonomous parking system on the premise of meeting the kinematic constraints of the vehicle, and designed a fuzzy proportional–integral–derivative (PID) controller to track the planned trajectory. Chand et al 18 proposed a new automatic parallel parking maneuver for intelligent vehicles based on the sigmoidal Gompertz curve with four tunable parameters, which were determined by using an optimization scheme. Vorobieva et al 19 presented a continuous-curvature path-planning method based on circle arcs and clothoid curves, and then the desired steering wheel angle and vehicle speed were calculated to execute the planned path.…”

“…Equation (17) shows that the lateral displacement of the vehicle increases with the angle of the circle arc According to equation (18), the angle of the circle…”

Integrated model of assisted parking system and performance evaluation with entropy weight extended analytic hierarchy process and two-tuple linguistic information

“…The investigation results from foreign car consulting companies show that customers begin to raise higher requirements for car intellectualization and prefer to spend more money on the cars with assisted parking system. 3,4 The overall performance of assisted parking system directly influences customers' degree of satisfaction, and the assessment of the overall performance is a multi-level, multi-factor, and multi-objective comprehensive result; 5,6 the overall performance of assisted parking system is decided by many factors and the results conforming to the reality can be obtained only by analyzing comprehensively different factors. 7 Therefore, the influencing factors should be summarized by levels through the comprehensive analysis of the existing assisted parking systems and combined with mathematical methods to determine comprehensive evaluation results.…”

“…First factor is absolutely very important with respect to the second factor 2, 4,6,8 Intermediate values Reciprocal Judgment value for the comparison of i and j is b ij ; importance ratio of i and j is b ji = 1/b ij Figure 4. Evaluation attribute system of assisted parking system comprehensive performance.…”