This paper proposes a model predictive path planning method with collision avoidance in narrow parking space. Objects are expressed as rectangle collision area, and obstacle avoidance constraints are defined by inequalities in a projected C-space which projects the rectangle collision area into the circle. Switching of driving forward and backward is planned automatically in the proposed method without a limitation on the switching. Numerical simulations were carried out to validate the performance with strict obstacle avoidance in a narrow environment assuming the reverse parking and the parallel parking tasks. The Achievability of the parking task and the computation time were compared between the proposed method and the conventional method with the collision avoidance constraints derived from Farkas' lemma.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Model Predictive Path Planning for Autonomous Parking Based on Projected C-Space


    Beteiligte:


    Erscheinungsdatum :

    19.09.2021


    Format / Umfang :

    1136597 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Smooth Path Planning for Autonomous Parking System

    Yang, Yi / Zhang, Lu / Qu, Xin et al. | British Library Conference Proceedings | 2017


    Smooth path planning for autonomous parking system

    Yi, Yang / Lu, Zhang / Xin, Qu et al. | IEEE | 2017


    Path planning method for autonomous parallel parking

    ZHU HUI / YE LINQUAN / LIANG HUAWEI et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    Parking path planning and parking method for unstructured scene autonomous vehicle

    LU JIAJIA / WANG XIANWEI / TANG YUE | Europäisches Patentamt | 2023

    Freier Zugriff

    VEHICULAR AUTONOMOUS PARKING SYSTEM WITH ENHANCED PATH PLANNING

    KRISHNAN PRASHANTH | Europäisches Patentamt | 2024

    Freier Zugriff