Parking Like a Human: A Direct Trajectory Planning Solution

doi:10.1109/TITS.2017.2687047

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 平行智能技术与系统团队

	Parking Like a Human: A Direct Trajectory Planning Solution
	Liu, Wei 1; Li, Zhiheng 1,2; Li, Li 1; Wang, Fei-Yue3
发表期刊	IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
	2017-12-01
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
DOI	10.1109/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	被引频次：52[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/19870
专题	多模态人工智能系统全国重点实验室_平行智能技术与系统团队
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
推荐引用方式 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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