Parking Like a Human: A Direct Trajectory Planning Solution
Liu, Wei1; Li, Zhiheng1,2; Li, Li1; Wang, Fei-Yue3
Source PublicationIEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
2017-12-01
Volume18Issue:12Pages:3388-3397
SubtypeArticle
Abstract
; Parking control problems remain to be fully solved for autonomous vehicles. Existing approaches usually first design a reference parking trajectory that does not exactly match vehicle dynamic constraints and then apply certain online negative feedback control to make the vehicle roughly track this reference trajectory. In this paper, we propose a novel trajectory planning method that directly links the actual parking trajectories and the steering actions to find the best parking trajectory. Tests show that this new approach has high reliability and less computation cost. Moreover, we also discuss how to counter with trajectory planning errors that are caused by model uncertainty in this paper. We show that an appropriate combination of feedforward trajectory planning and online feedback control can solve such problems.
KeywordAutonomous Vehicles Parking Trajectory Planning
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TITS.2017.2687047
WOS KeywordVEHICLE SIDESLIP ANGLE ; PATH GENERATION ; SYSTEMS ; DESIGN ; ROAD ; CONTROLLER ; BACKING ; TRUCK
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(91520301)
WOS Research AreaEngineering ; Transportation
WOS SubjectEngineering, Civil ; Engineering, Electrical & Electronic ; Transportation Science & Technology
WOS IDWOS:000418176800013
Citation statistics
Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19870
Collection复杂系统管理与控制国家重点实验室_先进控制与自动化
Affiliation1.Tsinghua Univ, Dept Automat, Tsinghua Natl Lab Informat Sci & Technol, Beijing 100084, Peoples R China
2.Tsinghua Univ, Grad Sch Shenzhen, Shenzhen 518055, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Liu, Wei,Li, Zhiheng,Li, Li,et al. Parking Like a Human: A Direct Trajectory Planning Solution[J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,2017,18(12):3388-3397.
APA Liu, Wei,Li, Zhiheng,Li, Li,&Wang, Fei-Yue.(2017).Parking Like a Human: A Direct Trajectory Planning Solution.IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,18(12),3388-3397.
MLA Liu, Wei,et al."Parking Like a Human: A Direct Trajectory Planning Solution".IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 18.12(2017):3388-3397.
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