Parking Like a Human: A Direct Trajectory Planning Solution

doi:10.1109/TITS.2017.2687047

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进控制与自动化团队

	Parking Like a Human: A Direct Trajectory Planning Solution
	Liu, Wei 1; Li, Zhiheng 1,2; Li, Li 1; Wang, Fei-Yue3
刊名	IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
	2017-12-01
卷号	18 期号:12 页码:3388-3397
关键词	Autonomous Vehicles Parking Trajectory Planning
DOI	10.1109/TITS.2017.2687047
文献子类	Article
英文摘要	; 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.
WOS关键词	VEHICLE SIDESLIP ANGLE ; PATH GENERATION ; SYSTEMS ; DESIGN ; ROAD ; CONTROLLER ; BACKING ; TRUCK
WOS研究方向	Engineering ; Transportation
语种	英语
WOS记录号	WOS:000418176800013
资助机构	National Natural Science Foundation of China(91520301)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/19870]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队
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.