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Spatio-temporal heuristic method:a trajectory planning for automatic parking considering obstacle behavior

Journal of Intelligent and Connected Vehicles 2022年第3期5卷 177-187页

作者： Nianfei Gan Miaomiao Zhang Bing Zhou Tian Chai Xiaojian Wu Yougang Bian HNU College of Mechanical and Vehicle Engineering Hunan UniversityChangshaChina School of Mechanical and Electrical Engineering Nanchang UniversityNanchangChina Intelligent and Connected Vehicles Research Institute Jiangling Motors Corporation Ltd.NanchangChina

Purpose–The purpose of this paper is to develop a real-time trajectory planner with optimal maneuver for autonomous vehicles to deal with dynamic obstacles during parallel ***/methodology/approach–To deal with dynamic obstacles for autonomous vehicles during parking,a long-and short-term mixed trajectory planning algorithm is proposed in this *** long term,considering obstacle behavior,A-star algorithm was improved by RS curve and potential function via spatio-temporal map to obtain a safe and efficient initial *** short term,this paper proposes a nonlinear model predictive control trajectory optimizer to smooth and adjust the trajectory online based on the vehicle kinematic ***,the proposed method is simulated and verified in four common dynamic parking scenarios by ACADO Toolkit and QPOASE ***–Compared with the spline optimization method,the results show that the proposed method can generate efficient obstacle avoidance strategies,safe parking trajectories and control parameters such as the front wheel angle and velocity in high-efficient central processing ***/value–It is aimed at improving the robustness of automatic parking system and providing a reference for decision-making in a dynamic environment.

关键词： Spatio-temporal heuristic method automatic parking Trajectory planning

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Fuzzy Controller-Based Design and Simulation of an automatic parking System

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Journal of Software Engineering and Applications 2023年第9期16卷 505-520页

作者： Meiyan Gao Yuanzhou Wei Ya He Dan Zhang Yuanhao Tian Bolin Huang Changyang Zheng College of Engineering and Computing Florida International University Miami USA School of Economics Capital University of Economics and Business Beijing China School of Information Science and Engineering Shandong University Jinan China Steven J. Green School of International & Public Affairs Florida International University Miami USA Viterbi School of Engineering University of Southern California Los Angeles USA School of Engineering Brown University Rhode Island USA

With the development of automatic driving and fuzzy theory, people pay more and more attention to the application of fuzzy logic in engineering technology. The automatic parking module in the automatic driving system has always been the focus of research. automatic parking modules can greatly assist drivers in parking operations, greatly reduce parking difficulties and make people more convenient and fast parking. In this paper, an automatic parking system based on the fuzzy controller is proposed. The fuzzy controller of automatic parking system is constructed by using fuzzy theory, and the robustness of the whole system is examined by fuzzy logic. Firstly, the vehicle motion rules and trajectory changes are analyzed in detail, and the real parking lot model is simulated. Then, the input and output variables of the whole system are analyzed by fuzzy theory and the membership function is constructed. Based on the experience of human experts, the parking rules are tested and summarized, and a reasonable and practical rule base is established. Finally, MATLAB is used to code, build the visual interface of parking lot and vehicles, and draw the cyclic iterative function to detect the vehicle position and direction angle, so as to act as a sensor. The results show that using a fuzzy controller to construct an automatic parking system can effectively improve the parking level.

关键词： automatic parking Controller Theory Fuzzy Logic MATLAB System Optimization

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A Practical Path Planning Strategy for automatic parking in Constrained parking Space

A Practical Path Planning Strategy for Automatic Parking in ...

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2018中国汽车工程学会年会

作者： LU Hui XU Kangxi WANG Huanran QI Cheng WANG Dazhi Software Engineering Department SAIC Motor Corporation Limited Passenger Vehicle Co.Ltd.

A practical automatic parking strategy of path planning in constrained parking space is stated in this *** path planning algorithm is designed by reversing a retrieving path that consists of two ***,a sequence of forward and backward moving is implemented from the final parking position,until the vehicle reaches a configuration of states from which it can pull out of the parking slot with one ***,a continuous path is generated from this configuration to the vehicle original *** constraints of parking space and vehicle dynamics are considered in both steps.

关键词： automatic parking motion planning path planning vehicle motion control

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Ultrasonic Array Based Obstacle Detection in automatic parking

Ultrasonic Array Based Obstacle Detection in Automatic Parki...

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2013年中国智能自动化学术会议

作者： Huihai Cui Jinze Song Daxue Liu College of Mechatronics Engineering and Automation National University of Defense Technology

An ultrasonic array for automatic parking is designed and accomplished in this *** details of software and hardware of the system were presented in the article,and the system was validated in a refitted vehicle by automatic parking. The detection result of the ultrasonic array was contrast with that of *** system showed the advantages in the robust,economy,environments irrespective, and easy to widely application.

关键词： Ultrasonic array automatic parking Obstacle detection LADAR

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A Trajectory Planning Method based on B-spline Algorithm for automatic parking Systems

A Trajectory Planning Method based on B-spline Algorithm for...

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作者： Mao Ye Xin Ji Yexin Zhao School of Automobile Chang’an University

This paper proposes a Trajectory planning method for automatic parallel parking *** planning method consists of two ***,the feasible area of parking,is used to find the starting position and azimuth of the ***,planning the parking *** vehicle can be safely and accurately parked in the parking space,with the avoidance of sudden changes of speed and steering *** experimental results show that this algorithm finds a suitable starting point and parking trajectory in each parking space environment.

关键词： automotive engineering automatic parking B-spline theory Differential flat theory

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Development of A Practical automatic parking Technology for Automobiles

Development of A Practical Automatic Parking Technology for ...

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第25届中国控制会议

作者： Dao Minhquan Department of Electronics and Mechanical Engineering Chiba University 1-33 Yayoi-choInage-kuChiba 263-8522Japan

＜正＞This paper aims at developing a practical automatic parking technology for 4-wheeled cars,which is able to park cars subject to parking space constraint and steering angle saturation. The feedback law is designed based on the switching control method proposed by the authors for chained systems. The focus of this paper is to prove a condition on the state under which the stability is guaranteed even when the steering angle is saturated. The proposed method is validated by numerous parking experiments.

关键词： automatic parking steering angle saturation parking space constraint switching control

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Path Planning and Tracking Control for parking via Soft Actor-Critic Under Non-Ideal Scenarios

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IEEE/CAA Journal of automatica Sinica 2024年第1期11卷 181-195页

作者： Xiaolin Tang Yuyou Yang Teng Liu Xianke Lin Kai Yang Shen Li IEEE the College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China the Clinical Research Center and Medical Pathology Center Chongqing University Three Gorges HospitalChongqing UniversityWanzhou 404000 the Department of Automotive and Mechatronics Engineering Ontario Tech UniversityOshawa ON LIG OC5Canada the School of Civil Engineering Tsinghua UniversityBeijing 100084China

parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

关键词： automatic parking control strategy parking deviation(APS) soft actor-critic(SAC)

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