Cited by 195Robotic Path Planning AlgorithmsVehicle Dynamics and Control SystemsAutonomous Vehicle Technology and Safety

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A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

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Li, Bai, Shao, Zhijiang·2015·Knowledge-Based Systems

DOI 10.1016/j.knosys.2015.04.016

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Abstract

This paper proposes a motion planner for autonomous parking. Compared to the prevailing and emerging studies that handle specific or regular parking scenarios only, our method describes various kinds of parking cases in a unified way regardless they are regular parking scenarios (e.g., parallel, perpendicular or echelon parking cases) or not. First, we formulate a time-optimal dynamic optimization problem with vehicle kinematics, collision-avoidance conditions and mechanical constraints strictly described. Thereafter, an interior-point simultaneous approach is introduced to solve that formulated dynamic optimization problem. Simulation results validate that our proposed motion planning method can tackle general parking scenarios. The tested parking scenarios in this paper can be regarded as benchmark cases to evaluate the efficiency of methods that may emerge in the future. Our established dynamic optimization problem is an open and unified framework, where other complicated user-specific constraints/optimization criteria can be handled without additional difficulty, provided that they are expressed through inequalities/polynomial explicitly. This proposed motion planner may be suitable for the next-generation intelligent parking-garage system.

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Authors: Li, B., & Shao, Z.
Affiliations: Zhejiang University (CN)
State Key Laboratory of Industrial Control Technology (CN)
Corresponding author: Shao, Zhijiang
ORCID: Li, Bai
Shao, Zhijiang
Venue: Knowledge-Based Systems
Publisher: Elsevier BV
Published: 2015-09
Volume: 86
Pages: 11-20
ISSN: 0950-7051 (ISSN-L)
DOI: 10.1016/j.knosys.2015.04.016
OpenAlex: W2027311349
Cited by: 195
References: 35
Citations by year: 2026: 13 · 2025: 31 · 2024: 17 · 2023: 26 · 2022: 17 · 2021: 20 · 2020: 15 · 2019: 18 · 2018: 11 · 2017: 13 · 2016: 8 · 2015: 6
FWCI: 10.99
Type: journal article
Language: en
Open access: hybrid
doi.org
Licence: cc-by
www.elsevier.com/tdm/userlicense/1.0/ (tdm)
creativecommons.org/licenses/by/4.0/ (vor)
Locations: Knowledge-Based Systems (publishedVersion, cc-by)
Funders: Program of China (2012CB720503)
National Nature Science Foundation (61374167)
6th National College Students’ Innovation & Entrepreneurial Training Program (201210006050)
Topics: Physical Sciences › Engineering › Control and Systems Engineering › Robotic Path Planning Algorithms
Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
Keywords: autonomous parking, motion planning, irregular obstacles, time-optimal control, dynamic optimization, vehicle kinematics, collision avoidance, interior point methods, parallel parking, perpendicular parking

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A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

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