This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
A Topological Map-Based Path Coordination Strategy for Autonomous Parking
Technical Paper
2019-01-0691
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
This paper proposed a path coordination strategy for autonomous parking based on independently designed parking lot topological map. The strategy merges two types of paths at the three stages of path planning, to determinate mode switching timing between low-speed automated driving and automated parking. Firstly, based on the principle that parking spaces should be parallel or vertical to a corresponding path, a topological parking lot map is designed by using the point cloud data collected by LiDAR sensor. This map is consist of road node coordinates, adjacent matrix and parking space information. Secondly, the direction and lateral distance of the parking space to the last node of global path are used to decide parking type and direction at parking planning stage. Finally, the parking space node is used to connect global path and parking path at path coordination stage. After optimizing nodes and smoothing path utilizing a fourth-degree polar-polynomial function, those two types of paths can be merged without deviation. Experiments show that the proposed topological map-based path coordination strategy can effectively generate a feasible path to guide vehicle from the drop off zone to the desired parking space. The designed controller meets real-time requirements. At the same time, continuous curvature variation of path and steady speed can improve accuracy of path tracking.
Recommended Content
Classroom Training | Infrared Camera for ADAS and Autonomous Sensing |
Research Report | Unsettled Topics Concerning the Impact of Quantum Technologies on Automotive Cybersecurity |
Technical Paper | Russian Systems Thermal Tailoring and Application on ATV Cargo Carrier |
Authors
Topic
Citation
Wang, Y., Jiang, F., Luo, Y., Qi, Y. et al., "A Topological Map-Based Path Coordination Strategy for Autonomous Parking," SAE Technical Paper 2019-01-0691, 2019, https://doi.org/10.4271/2019-01-0691.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 |
Also In
References
- Buehler , M. The DARPA Urban Challenge: Autonomous Vehicles in City Traffic First Springer Publishing Company, Incorporated 2009 3642039901 9783642039904
- Furgale , P. , Schwesinger , U. , Rufli , M. , and Derendarz , W. Toward Automated Driving in Cities Using Close-to-Market Sensors: An Overview of the V-Charge Project Intelligent Vehicles Symposium Australia June 23-26, 2013
- Schwesinger , U. , Bürki , M. , Timpner , J. , Rottmann , S. , Wolf , L. et al. Automated Valet Parking and Charging for e-Mobility Intelligent Vehicles Symposium Sweden June 19-22, 2016
- Loper , C. , Brunken , C. , Thomaidis , G. , and Lapoehn , S. Automated Valet Parking as Part of an Integrated Travel Assistance International IEEE Conference on Intelligent Transportation Systems (ITSC 2013) Netherlands Oct. 6-9, 2013
- Min , K.W. and Choi , J.D. Design and Implementation of an Intelligent Vehicle System for Autonomous Valet Parking Service 2015 10th Asian Control Conference (ASCC) Malaysia May 31 -June 3, 2015
- Chirca , M. , Chapuis , R. , and Lenain , R. Autonomous Valet Parking System Architecture 2015 IEEE 18th International Conference on Intelligent Transportation Systems Spain Sept 15-18, 2015
- Jeong , Y. , Kim , S. , Yi , K. , Lee , S. et al. Design and Implementation of Parking Control Algorithm for Autonomous Valet Parking SAE Technical Paper 2016-01-0146 2016 10.4271/2016-01-0146
- Klaudt , S. , Zlocki , A. , and Eckstein , L. A-Priori Map Information and Path Planning for Automated Valet-Parking 2017 IEEE Intelligent Vehicles Symposium (IV) USA June 11-14, 2017
- Li , B. , Yang , L. , Xiao , J. , and Valde , R. Collaborative Mapping and Autonomous Parking for Multi-Story Parking Garage Proceedings of the IEEE Transactions on Intelligent Transportation Systems 19 5 1629 1639 2018
- Kessler , T. and Knoll , A. Multi Vehicle Trajectory Coordination for Automated Parking 2017 IEEE Intelligent Vehicles Symposium (IV) USA June 11-14, 2017
- Khalid , M. , Cao , Y. , Zhang , X. , Han , Z et al. Towards Autonomy: Cost-Effective Scheduling for Long-Range Autonomous Valet Parking (LAVP) 2018 IEEE Wireless Communications and Networking Conference (WCNC) Spain April 15-18, 2018
- Si , S. 2015
- Nelson , W. Continuous-Curvature Paths for Autonomous Vehicles 1989 International Conference on Robotics and Automation USA May 14-19, 1989
- Shi , J. , Wu , J. , Zhu , B. , Li , J. et al. Design of Automatic Parallel Parking System Based on Multi-Point Preview Theory SAE Technical Paper 2018-01-0604 2018 10.4271/2018-01-0604
- Thrun , S. , Montemerlo , M. , Dahlkamp , H. , Stavens , D. et al. Stanley: The Robot that Won the Darpa Grand Challenge: Research Articles Proceedings of Journal of Field Robotics 23 9 661 692 2006