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Research on Vertical Parking Path Planning for Smart Cars

Published: 18 November 2024 Publication History

Abstract

To enhance the safety, efficiency, and comfort of vertical parking for smart cars, this paper presents a multi-step vertical parking path planning method based on the Whale Optimization Algorithm (WOA) to address the complex challenges in vertical parking scenarios. Initially, the vehicle's kinematic constraints and the risk of collisions within the parking environment are comprehensively considered, and a multi-stage parking path planning scheme is designed through precise geometric analysis and obstacle avoidance strategies. Subsequently, a penalty function method is employed to construct the objective function, which is then optimized using the Whale Optimization Algorithm to ensure safe and effective parking in narrow spaces. Finally, MATLAB simulations are conducted to verify the effectiveness of the WOA-based path planning algorithm. The results demonstrate that the optimized path is not only continuous and smooth in curvature but also ensures that the vehicle enters the parking space without colliding with the boundaries of the parking spot or the main road edges.

References

[1]
Cai, Y., Wang, G., Zhang, Y. S., Wu, A. Q., & Chen, R. (2023). Multi-segment path planning and simulation analysis based on narrow vertical parking spaces. Practical Automobile Technology, (10), 22-29.
[2]
Petrov, P., & Nashashibi, F. (2014, December). Saturated feedback control for an automated parallel parking assist system. In 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV) (pp. 577-582). IEEE.
[3]
Jia, S. C., Peng, J. G., Huang, W., & Huang, Q. M. (2023). Path planning and motion control for articulated trailers in vertical parking. Information and Control, (02), 190-201+210.
[4]
Wen, Z. Z., Gao, Y. P., Duan, J. R., Liu, Y., & Sun, C. (2017). Research on automatic parking based on fuzzy control. Automobile Technology, (03), 29-32.
[5]
Dou, F., Huang, Y., Liu, L., Wang, H., Meng, Y., & Zhao, L. (2019). Path planning and tracking for autonomous mining articulated vehicles. International Journal of Heavy Vehicle Systems, 26(3-4), 315-333.
[6]
Mirjalili, S., & Lewis, A. (2016). The whale optimization algorithm. Advances in engineering software, 95, 51-67.
[7]
Kim, D. J. (2022). Optimization-Based Path Planning and Control for Autonomous Driving Vehicle (Doctoral dissertation. Seoul: Hanyang University).

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  1. Research on Vertical Parking Path Planning for Smart Cars

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    ICCIR '24: Proceedings of the 2024 4th International Conference on Control and Intelligent Robotics
    June 2024
    399 pages
    ISBN:9798400709937
    DOI:10.1145/3687488
    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 the author(s) 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

    New York, NY, United States

    Publication History

    Published: 18 November 2024

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    Author Tags

    1. Automated Parking
    2. Driver Assistance
    3. Path Planning
    4. Vertical Parking
    5. Whale Optimization Algorithm

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