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

doi:10.1109/ITSC.2014.6957774

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

School of Integrated Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	719-724
Number of pages	6
ISBN (Electronic)	9781479960781
DOIs	https://doi.org/10.1109/ITSC.2014.6957774
Publication status	Published - 2014 Nov 14
Event	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 - Qingdao, China Duration: 2014 Oct 8 → 2014 Oct 11

Publication series

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

Other

Other	2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Country	China
City	Qingdao
Period	14/10/8 → 14/10/11

All Science Journal Classification (ASJC) codes

Computer Science Applications
Automotive Engineering
Mechanical Engineering

Access to Document

10.1109/ITSC.2014.6957774

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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

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).

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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",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE. Copyright: Copyright 2015 Elsevier B.V., All rights reserved.; 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 ; Conference date: 08-10-2014 Through 11-10-2014",

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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 proceeding › Conference contribution

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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.

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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