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A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles
Open accessAbstract
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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“Relevant products have already been made available in the market by many of the original equipment manufacturers such as T esla, Volvo, Audi, BMW, Ford, Land Rover, Mercedes-Benz, Nissan, and T oyota”
From Understanding autonomous vehicles: A systematic literature review on capability, impact, planning and policy (2019) · cites this paper as Li & Shao, 2015
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Zhang, X., Liniger, A., & Borrelli, F. (2020) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2019.2949540 · Cited by 477
Faisal, A., Yigitcanlar, T., Kamruzzaman, M., & Currie, G. (2019) · Journal of Transport and Land Use · doi:10.5198/jtlu.2019.1405 · Cited by 427
“…open-loop (when controller does not require verification of system output or modification of command to the system) motion planning and, closed-loop (information flows around a feedback loop) control execution, are responsible for successful autonomous parking (Lee et al., 2009; Li & Shao, 2015).”
BackgroundLi, B., Acarman, T., Zhang, Y. M., Ouyang, Y., Yaman, C., Kong, Q., Zhong, X., & Peng, X. (2021) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2021.3109011 · Cited by 211
Self-citationLi, B., Ouyang, Y., Li, L., & Zhang, Y. M. (2022) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2022.3145389 · Cited by 179
Self-citationAutonomous driving, the built environment and policy implications
Fraedrich, E., Heinrichs, D., Bahamonde-Birke, F. J., & Cyganski, R. (2019) · Transportation Research Part A: Policy and Practice · doi:10.1016/j.tra.2018.02.018 · Cited by 175
Metadata
- Authors
- Li, B., & Shao, Z.
- Affiliations
- Zhejiang University (CN)
- State Key Laboratory of Industrial Control Technology (CN)
- Corresponding author
- Shao, Zhijiang
- Venue
- Knowledge-Based Systems
- Publisher
- Elsevier BV
- Published
- 2015-09
- Volume
- 86
- Pages
- 11-20
- ISSN
- 0950-7051 (ISSN-L)
- 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
- 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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