A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems

Jaeyoung Moon, Il Bae, Jae Gwang Cha, Shiho Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

Abstract

This paper proposes a planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems, especially suitable for backward parking situations. The algorithm is based on the steering property that backward moving trajectory coincides with the forward moving trajectory for the identical steering angle. The basic path planning is divided into two segments: a collision-free locating segment and an entering segment that considers the continuous steering angles for connecting the two paths. MATLAB simulations were conducted, along with experiments involving parallel and perpendicular situations.

Original languageEnglish
Title of host publication2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages719-724
Number of pages6
ISBN (Electronic)9781479960781
DOIs
Publication statusPublished - 2014 Nov 14
Event2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 - Qingdao, China
Duration: 2014 Oct 82014 Oct 11

Publication series

Name2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014

Other

Other2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
CountryChina
CityQingdao
Period14/10/814/10/11

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Automotive Engineering
  • Mechanical Engineering

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    Moon, J., Bae, I., Cha, J. G., & Kim, S. (2014). A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems. In 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 (pp. 719-724). [6957774] (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2014.6957774