Research on Sampling-Based Motion Planning and Control in Spiral Ramp Scenarios of Underground Parking Garages

2025-01-8039

04/01/2025

Features
Event
WCX SAE World Congress Experience
Authors Abstract
Content
The slope and curvature of spiral ramps in underground parking garages change continuously, and often lacks of predefined map information. Traditional planning algorithms is difficult to ensure safety and real-time performance for autonomous vehicles entering and exiting underground parking garages. Therefore, this study proposed the Model Predictive Path Integral (MPPI) method, focusing on solving motion planning problems in underground parking garages without predefined map information. This sample-based method to allows simultaneous online autonomous vehicle planning and tracking while not relying on predefined map information,along with adjusting the driving path accordingly. Key path points in the spiral ramp environment were defined by curvature, where reducing the dimensionality of the sampling space and optimizing the computational efficiency of sampled trajectories within the MPPI framework. This ensured the safety and computational speed of the improved MPPI method in motion planning for spiral ramp environments. A co-simulation platform based on Prescan, CarSim, and MATLAB was established for constructing a spiral ramp scenario model with variable slopes and curvatures in an underground garage. Motion planning simulations used the improved MPPI method in this scenario and showed that autonomous vehicles can operate safely and efficiently in the spiral ramp environment.
Meta TagsDetails
DOI
https://doi.org/10.4271/2025-01-8039
Pages
11
Citation
Liu, Z., Shen, Y., and Wang, K., "Research on Sampling-Based Motion Planning and Control in Spiral Ramp Scenarios of Underground Parking Garages," SAE Technical Paper 2025-01-8039, 2025, https://doi.org/10.4271/2025-01-8039.
Additional Details
Publisher
Published
Apr 01
Product Code
2025-01-8039
Content Type
Technical Paper
Language
English