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Journal of Intelligent and Connected Vehicles 2022, 5(3): 177-187 https://doi.org/10.1108/JICV-01-2022-0002
Research paper | Open Access | Issue | Published: 12 July 2022

Spatio-temporal heuristic method: a trajectory planning for automatic parking considering obstacle behavior

Show Author's Information Nianfei Gan1,  Miaomiao Zhang1,  Bing Zhou1( ),  Tian Chai1,  Xiaojian Wu2,  Yougang Bian1
HNU College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
School of Mechanical and Electrical Engineering, Nanchang University, Nanchang, China and Intelligent and Connected Vehicles Research Institute, Jiangling Motors Corporation Ltd., Nanchang, China

This paper forms part of a special section “Intelligent Safety for Intelligent and Connected”, guest edited by Jun Li.

Keywords:
Trajectory planning, Spatio-temporal heuristic method, Automatic parking
Cite this article:
Gan N, Zhang M, Zhou B, et al. Spatio-temporal heuristic method: a trajectory planning for automatic parking considering obstacle behavior. Journal of Intelligent and Connected Vehicles, 2022, 5(3): 177-187. https://doi.org/10.1108/JICV-01-2022-0002
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Abstract Full text About this article
Purpose

The purpose of this paper is to develop a real-time trajectory planner with optimal maneuver for autonomous vehicles to deal with dynamic obstacles during parallel parking.

Design/methodology/approach

To deal with dynamic obstacles for autonomous vehicles during parking, a long- and short-term mixed trajectory planning algorithm is proposed in this paper. In long term, considering obstacle behavior, A-star algorithm was improved by RS curve and potential function via spatio-temporal map to obtain a safe and efficient initial trajectory. In short term, this paper proposes a nonlinear model predictive control trajectory optimizer to smooth and adjust the trajectory online based on the vehicle kinematic model. Moreover, the proposed method is simulated and verified in four common dynamic parking scenarios by ACADO Toolkit and QPOASE solver.

Findings

Compared with the spline optimization method, the results show that the proposed method can generate efficient obstacle avoidance strategies, safe parking trajectories and control parameters such as the front wheel angle and velocity in high-efficient central processing units.

Originality/value

It is aimed at improving the robustness of automatic parking system and providing a reference for decision-making in a dynamic environment.


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Abstract
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About this article

Spatio-temporal heuristic method: a trajectory planning for automatic parking considering obstacle behavior

Show Author's information Nianfei Gan1, Miaomiao Zhang1, Bing Zhou1( ), Tian Chai1, Xiaojian Wu2, Yougang Bian1
HNU College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China
School of Mechanical and Electrical Engineering, Nanchang University, Nanchang, China and Intelligent and Connected Vehicles Research Institute, Jiangling Motors Corporation Ltd., Nanchang, China

This paper forms part of a special section “Intelligent Safety for Intelligent and Connected”, guest edited by Jun Li.

Abstract

Purpose

The purpose of this paper is to develop a real-time trajectory planner with optimal maneuver for autonomous vehicles to deal with dynamic obstacles during parallel parking.

Design/methodology/approach

To deal with dynamic obstacles for autonomous vehicles during parking, a long- and short-term mixed trajectory planning algorithm is proposed in this paper. In long term, considering obstacle behavior, A-star algorithm was improved by RS curve and potential function via spatio-temporal map to obtain a safe and efficient initial trajectory. In short term, this paper proposes a nonlinear model predictive control trajectory optimizer to smooth and adjust the trajectory online based on the vehicle kinematic model. Moreover, the proposed method is simulated and verified in four common dynamic parking scenarios by ACADO Toolkit and QPOASE solver.

Findings

Compared with the spline optimization method, the results show that the proposed method can generate efficient obstacle avoidance strategies, safe parking trajectories and control parameters such as the front wheel angle and velocity in high-efficient central processing units.

Originality/value

It is aimed at improving the robustness of automatic parking system and providing a reference for decision-making in a dynamic environment.

Keywords: Trajectory planning, Spatio-temporal heuristic method, Automatic parking

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Publication history
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Publication history

Received: 14 January 2022
Revised: 16 June 2022
Accepted: 17 June 2022
Published: 12 July 2022
Issue date: October 2022

Copyright

© 2022 Nianfei Gan, Miaomiao Zhang, Bing Zhou, Tian Chai, Xiaojian Wu and Yougang Bian. Published in Journal of Intelligent and Connected Vehicles. Published by Emerald Publishing Limited.

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This article is published under the Creative Commons Attribution (CC BY 4.0) licence. Anyone may reproduce, distribute, translate and create derivative works of this article (for both commercial and non-commercial purposes), subject to full attribution to the original publication and authors. The full terms of this licence maybe seen at http://creativecommons.org/licences/by/4.0/legalcode

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