Lateral Vehicle Trajectory Planning Using a Model Predictive Control Scheme for an Automated Perpendicular Parking System

This article proposes a lateral vehicle trajectory planning and control algorithm using a model predictive control (MPC) scheme for an automated perpendicular parking system. Previous work showed that approximated clothoid-based local path planning using a virtual towing distance provides low comput...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2023-02, Vol.70 (2), p.1820-1829
Main Authors: Kim, Dae Jung, Jeong, Yong Woo, Chung, Chung Choo
Format: Article
Language:English
Subjects:
Algorithms
Approximation
Approximation algorithms
Automated perpendicular parking system
Automation
Computing time
constrained optimization
Control algorithms
Control theory
Kinematics
Lateral stability
model predictive control (MPC)
Motion control
Motion stability
Parking
Path planning
Planning
Predictive control
Predictive models
Steering
Trajectory
Trajectory control
Trajectory planning
vehicle lateral control
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Summary:This article proposes a lateral vehicle trajectory planning and control algorithm using a model predictive control (MPC) scheme for an automated perpendicular parking system. Previous work showed that approximated clothoid-based local path planning using a virtual towing distance provides low computational time and the stability of lateral vehicle motion in a parking system. However, this approach cannot function in certain parking situations and may cause undesirable steering maneuvers due to state-dependent planning. We present a new approximated clothoid path based on lateral vehicle kinematics to cope with these problems. Using the proposed kinematic model, we formulate an MPC problem for path planning. Then, the proposed lateral vehicle trajectory planning becomes an MPC problem under constraints. Besides, we show that lateral vehicle motion for vertical parking can be implemented using simple kinematic lateral motion control. Experimental results show that the vehicle with the proposed method moves smoothly and completes the given parking mission under constraints, even under tight parking space conditions.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2022.3163567