research-article

A Feasible Parking Algorithm in Form of Path Planning and Following

Authors:

Ping WangAuthors Info & Claims

RICAI '19: Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

Pages 6 - 11

https://doi.org/10.1145/3366194.3366196

Published: 20 September 2019 Publication History

Abstract

Automatic parking technology is the research trend in auto area in recent years. The parking algorithm is usually decomposed into two parts: path planning with geometrical method and path following. Actually, many papers have contributed on improving the performance of automatic parking algorithm. Among the existing algorithms, the jerks of curvature at some reference path points are hard to be avoided. The problem increases the difficulty of tracking. In path tracking, the simple proportion-integration-differential(PID) controller can not meet the requirements on high precision and stability. Therefore, this paper aims at generating smooth trajectories and tracking them precisely and stably. Firstly, the proposed algorithm utilizes circular arcs to obtain initial reference parking paths in view of passable constraints like slots' boundaries and road boundaries. Secondly, the algorithm chooses appropriate Bezier curves to ease the jerks at path joints. Finally, the controller based on model predictive control(MPC) is designed for path tracking. The automatic parking algorithm is verified in MATLAB and vehicle dynamics simulation software PreScan. Simulation results show that the proposed algorithm is feasible and efficient.

References

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Cited By

Chen GGao ZHu HDu JWang H(2024)Multi-maneuver Vertical Parking Trajectory Planning and Tracking Control in Narrow EnvironmentsAutomotive Innovation10.1007/s42154-023-00244-17:2(300-311)Online publication date: 18-Apr-2024
https://doi.org/10.1007/s42154-023-00244-1
Gao JChai WWu Y(2023)Research on parallel parking path planning and tracking control of unmanned vehiclesJournal of Algorithms & Computational Technology10.1177/1748302623116493217(174830262311649)Online publication date: 29-Mar-2023
https://doi.org/10.1177/17483026231164932
He JLi H(2021)Fast A* Anchor Point based Path Planning for Narrow Space Parking2021 IEEE International Intelligent Transportation Systems Conference (ITSC)10.1109/ITSC48978.2021.9564837(1604-1609)Online publication date: 19-Sep-2021
https://dl.acm.org/doi/10.1109/ITSC48978.2021.9564837
Show More Cited By

Index Terms

A Feasible Parking Algorithm in Form of Path Planning and Following
1. Computing methodologies
  1. Artificial intelligence
    1. Planning and scheduling
      1. Robotic planning

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RICAI '19: Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

September 2019

803 pages

ISBN:9781450372985

DOI:10.1145/3366194

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Publication History

Published: 20 September 2019

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RICAI 2019

RICAI 2019: 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

September 20 - 22, 2019

Shanghai, China

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RICAI '19 Paper Acceptance Rate 140 of 294 submissions, 48%;

Overall Acceptance Rate 140 of 294 submissions, 48%

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Cited By

Chen GGao ZHu HDu JWang H(2024)Multi-maneuver Vertical Parking Trajectory Planning and Tracking Control in Narrow EnvironmentsAutomotive Innovation10.1007/s42154-023-00244-17:2(300-311)Online publication date: 18-Apr-2024
https://doi.org/10.1007/s42154-023-00244-1
Gao JChai WWu Y(2023)Research on parallel parking path planning and tracking control of unmanned vehiclesJournal of Algorithms & Computational Technology10.1177/1748302623116493217(174830262311649)Online publication date: 29-Mar-2023
https://doi.org/10.1177/17483026231164932
He JLi H(2021)Fast A* Anchor Point based Path Planning for Narrow Space Parking2021 IEEE International Intelligent Transportation Systems Conference (ITSC)10.1109/ITSC48978.2021.9564837(1604-1609)Online publication date: 19-Sep-2021
https://dl.acm.org/doi/10.1109/ITSC48978.2021.9564837
Solmaz SMuminovic RCivgin AStettinger G(2021)Development, Analysis, and Real-life Benchmarking of RRT-based Path Planning Algorithms for Automated Valet Parking2021 IEEE International Intelligent Transportation Systems Conference (ITSC)10.1109/ITSC48978.2021.9564413(621-628)Online publication date: 19-Sep-2021
https://dl.acm.org/doi/10.1109/ITSC48978.2021.9564413

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