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An IMPC Based Parking Assistance System

FinitronX-Qianyu Ouyang, Xianzhe Jia
Published 2019-10-22 by SAE International in United States
This paper summarizes progress and outcome from our research projects on IMPC-based parking management system, including parking motion planning and control strategy, as well as a searching strategy for parking spot. IMPC here refers to interactive model predictive control regime, which is characterized in that multiple agents implementing separate MPC strategy are incorporating information about their state, objective, and constraints. To predict future parking parameters, we proposed a practical framework which integrates anticipatory techniques with a model predictive approach that robustly models the stochastic parking environment. The framework is able to take into account the interactions between vehicle subsystems, and can optimize trajectory under complex traffic patterns in real-world scenarios. Adaptive model predictive control is utilized to optimally minimize a cost function regarding performance, energy efficiency and drivability with regard to surrounding vehicle states. Dynamic programming was used to solve the control objective under multiple constraints, which yielded superior performance in comparison with convex programming. An original navigation system was developed for leading user to the parking spot in case of forgetting exact location, which…
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