Parking Like a Human: A Direct Trajectory Planning Solution

被引：63
作者：
Liu, Wei [1 ]
Li, Zhiheng [1 ,2 ]
Li, Li [1 ]
Wang, Fei-Yue [3 ]
机构：
[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
来源：
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2017年 / 18卷 / 12期
基金：
中国国家自然科学基金;
关键词：
Autonomous vehicles; parking; trajectory planning; VEHICLE SIDESLIP ANGLE; PATH GENERATION; SYSTEMS; BACKING; DESIGN; TRUCK;
D O I：
10.1109/TITS.2017.2687047
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
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.
引用
收藏
页码：3388 / 3397
页数：10
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