Parking Like a Human: A Direct Trajectory Planning Solution
Liu, Wei1; Li, Zhiheng1,2; Li, Li1; Wang, Fei-Yue3
2017-12-01
发表期刊IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
卷号18期号:12页码:3388-3397
文章类型Article
摘要
; 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.
关键词Autonomous Vehicles Parking Trajectory Planning
WOS标题词Science & Technology ; Technology
DOI10.1109/TITS.2017.2687047
关键词[WOS]VEHICLE SIDESLIP ANGLE ; PATH GENERATION ; SYSTEMS ; DESIGN ; ROAD ; CONTROLLER ; BACKING ; TRUCK
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(91520301)
WOS研究方向Engineering ; Transportation
WOS类目Engineering, Civil ; Engineering, Electrical & Electronic ; Transportation Science & Technology
WOS记录号WOS:000418176800013
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/19870
专题复杂系统管理与控制国家重点实验室_先进控制与自动化
作者单位1.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
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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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