We propose a real-Time near-optimal motion and trajectory planner using an interior-point method (IPM) based simultaneous dynamic optimization approach applicable to automatic parallel parking. Partitioning an automatic parking zone into two areas with and without inequality constraints drastically improves the convergence efficiency of the IPM-based simultaneous dynamic optimization of nonlinear programs while retaining the accuracy and stability of simulation for optimization. An optimal ready-To-reverse point (RRP), from where backward moving parking maneuver starts, is provided based on the cost function of the tracking time and additional delayed time of gear shifts caused by multiple maneuvers. The stability and accuracy of the proposed method was verified through simulation using AMPL with an IPOPT solver.
|Title of host publication||IV 2017 - 28th IEEE Intelligent Vehicles Symposium|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||4|
|Publication status||Published - 2017 Jul 28|
|Event||28th IEEE Intelligent Vehicles Symposium, IV 2017 - Redondo Beach, United States|
Duration: 2017 Jun 11 → 2017 Jun 14
|Name||IEEE Intelligent Vehicles Symposium, Proceedings|
|Other||28th IEEE Intelligent Vehicles Symposium, IV 2017|
|Period||17/6/11 → 17/6/14|
Bibliographical noteFunding Information:
* This research was supported by the MSIP (Ministry of Science, ICT and -,-* $ &&"& '* -& * ,! 3 '&+"$" & * ,". *' * %5 (IITP-R0346-16-1008) supervised by the IITP (Institute for Information & communications Technology Promotion) The authors are with the Seamless Transportation Lab (STL), School of Integrated Technology, and Yonsei Institute of Convergence Technology, International Campus, Yonsei University, Incheon 21983, Korea (e-mail:; firstname.lastname@example.org, email@example.com, and firstname.lastname@example.org).
All Science Journal Classification (ASJC) codes
- Computer Science Applications
- Automotive Engineering
- Modelling and Simulation