Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach

Jaeyoung Moon, Il Bae, Shiho Kim

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

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIV 2017 - 28th IEEE Intelligent Vehicles Symposium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages193-196
Number of pages4
ISBN (Electronic)9781509048045
DOIs
Publication statusPublished - 2017 Jul 28
Event28th IEEE Intelligent Vehicles Symposium, IV 2017 - Redondo Beach, United States
Duration: 2017 Jun 112017 Jun 14

Other

Other28th IEEE Intelligent Vehicles Symposium, IV 2017
CountryUnited States
CityRedondo Beach
Period17/6/1117/6/14

Fingerprint

Simultaneous Optimization
Dynamic Optimization
Optimal Path
Interior Point Method
Parking
Planning
Real-time
Inequality Constraints
Cost Function
Reverse
Partitioning
Simulation
Trajectory
Cost functions
Gears
Motion
Optimization
Trajectories

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Automotive Engineering
  • Modelling and Simulation

Cite this

Moon, J., Bae, I., & Kim, S. (2017). Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach. In IV 2017 - 28th IEEE Intelligent Vehicles Symposium (pp. 193-196). [7995719] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2017.7995719
Moon, Jaeyoung ; Bae, Il ; Kim, Shiho. / Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach. IV 2017 - 28th IEEE Intelligent Vehicles Symposium. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 193-196
@inproceedings{e0a3d23a66c44d0684fca041bc3b8db0,
title = "Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach",
abstract = "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.",
author = "Jaeyoung Moon and Il Bae and Shiho Kim",
year = "2017",
month = "7",
day = "28",
doi = "10.1109/IVS.2017.7995719",
language = "English",
pages = "193--196",
booktitle = "IV 2017 - 28th IEEE Intelligent Vehicles Symposium",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

Moon, J, Bae, I & Kim, S 2017, Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach. in IV 2017 - 28th IEEE Intelligent Vehicles Symposium., 7995719, Institute of Electrical and Electronics Engineers Inc., pp. 193-196, 28th IEEE Intelligent Vehicles Symposium, IV 2017, Redondo Beach, United States, 17/6/11. https://doi.org/10.1109/IVS.2017.7995719

Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach. / Moon, Jaeyoung; Bae, Il; Kim, Shiho.

IV 2017 - 28th IEEE Intelligent Vehicles Symposium. Institute of Electrical and Electronics Engineers Inc., 2017. p. 193-196 7995719.

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

TY - GEN

T1 - Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach

AU - Moon, Jaeyoung

AU - Bae, Il

AU - Kim, Shiho

PY - 2017/7/28

Y1 - 2017/7/28

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85028083859&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85028083859&partnerID=8YFLogxK

U2 - 10.1109/IVS.2017.7995719

DO - 10.1109/IVS.2017.7995719

M3 - Conference contribution

AN - SCOPUS:85028083859

SP - 193

EP - 196

BT - IV 2017 - 28th IEEE Intelligent Vehicles Symposium

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Moon J, Bae I, Kim S. Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach. In IV 2017 - 28th IEEE Intelligent Vehicles Symposium. Institute of Electrical and Electronics Engineers Inc. 2017. p. 193-196. 7995719 https://doi.org/10.1109/IVS.2017.7995719