Abstract
A new method for the planning and autonomous execution of a single-trajectory, velocity-independent, parallel parking manoeuvre for autonomous vehicles is presented. The procedure commences with the identification and pre-selection of a smooth sigmoidal trajectory known as the Gompertz curve in parametric format. Trajectory parameters are determined in real-time during the path-planning phase using an optimization scheme in order to generate a candidate path. The optimization scheme takes into account the maximum steering angles that can be physically realized and checks the generated candidate trajectory for collisions. Thereafter, the trajectory is reparametrized to arc-length format using the cubic interpolation method and the vehicle orientation at every point of the trajectory is deduced. Following that, values of the steering angle(s) are determined. In the final step, the vehicle uses dead-reckoning to follows the arc-length parametrized path in reverse in order to park itself in a single-manoeuvre. The proposed method is substantiated through both extensive simulations and real sensor data.
Highlights
Autonomous vehicle technology has steadily and progres‐ sively evolved so tremendously over the last few decades that they are almost a commercial reality
What started as experimental research in navigation, sensing and perception using small-sized mobile robots in the yester‐ years has fully matured and shifted into full-scale autonomous vehicles
Of the various types of parking manoeuvres, one of the more arduous ones is known as parallel parking
Summary
Autonomous vehicle technology has steadily and progres‐ sively evolved so tremendously over the last few decades that they are almost a commercial reality. Most of the current generation self-parking solutions can broadly be categorized into two classifications: mechanical solutions and sensor based reactive approaches The former involves major mechanical modifications to the vehicle body, or a complete redesign, such that either the rear wheels rotate or the car length is retracted reducing the overall vehicle span thereby making the parking manoeu‐ vre easier e.g the Hiriko Fold Electric Vehicle from MIT. While car-makers such as Lexus have dem‐ onstrated and offer autonomous parallel-parking features, their implementation methods are unpublished While it may be initially be considered a solved problem, the following discernible features between our approach and the mentioned works outline the fact there is always room for improvement: 1.
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