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

17 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

Fingerprint

Parking
Trajectories
Planning
Motion planning
MATLAB
Experiments

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Automotive Engineering
  • Mechanical Engineering

Cite this

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
Moon, Jaeyoung ; Bae, Il ; Cha, Jae Gwang ; Kim, Shiho. / A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems. 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 719-724 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014).
@inproceedings{f4354594cc144694b94d0eab545cfa69,
title = "A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems",
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.",
author = "Jaeyoung Moon and Il Bae and Cha, {Jae Gwang} and Shiho Kim",
year = "2014",
month = "11",
day = "14",
doi = "10.1109/ITSC.2014.6957774",
language = "English",
series = "2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "719--724",
booktitle = "2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014",
address = "United States",

}

Moon, J, Bae, I, Cha, JG & 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., 6957774, 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 719-724, 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014, Qingdao, China, 14/10/8. https://doi.org/10.1109/ITSC.2014.6957774

A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems. / Moon, Jaeyoung; Bae, Il; Cha, Jae Gwang; Kim, Shiho.

2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 719-724 6957774 (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014).

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

TY - GEN

T1 - A trajectory planning method based on forward path generation and backward tracking algorithm for Automatic Parking Systems

AU - Moon, Jaeyoung

AU - Bae, Il

AU - Cha, Jae Gwang

AU - Kim, Shiho

PY - 2014/11/14

Y1 - 2014/11/14

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84929202046&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84929202046&partnerID=8YFLogxK

U2 - 10.1109/ITSC.2014.6957774

DO - 10.1109/ITSC.2014.6957774

M3 - Conference contribution

AN - SCOPUS:84929202046

T3 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014

SP - 719

EP - 724

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

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Moon J, Bae I, Cha JG, Kim S. 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. Institute of Electrical and Electronics Engineers Inc. 2014. p. 719-724. 6957774. (2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014). https://doi.org/10.1109/ITSC.2014.6957774