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Abstract—Autonomous parking has been a widely developed then reversing into that space. Subsequent position adjustment
branch of intelligent transportation systems. In autonomous park- may require forward and reverse gears in handling tiny spots.
ing, maneuver planning is a crucial procedure that determines To date, urban parking spots have become narrower than
how intelligent the entire parking system is. This paper con-
cerns planning time-optimal parallel parking maneuvers in a before, thus rendering manual parking operations more chal-
straightforward, accurate, and purely objective way. A unified lenging [1]. Unskilled parking operations may disturb the sur-
dynamic optimization framework is established, which includes rounding road users and even cause a traffic jam [2]. Besides
the vehicle kinematics, physical restrictions, collision-avoidance that, inexperienced drivers who are reluctant to try tiny parking
constraints, and an optimization objective. Interior-point method spots would have to circle around blocks, thereby contributing
(IPM)-based simultaneous dynamic optimization methodology is
to additional air pollution, fuel consumption, and congestion
adopted to solve the formulated dynamic optimization problem
numerically. Given that near-feasible solutions have been widely [3]: a report indicates that vehicles along the Columbus Avenue
acknowledged to ease optimizing nonlinear programs (NLPs), a of New York wind around for totally 590,000 km searching for
critical region-based initialization strategy is proposed to facilitate parking spots every year, resulting in 325 tons of carbon dioxide
the offline NLP-solving process, a lookup table-based strategy is emission and 50,000 wasted hours [4].
proposed to guarantee the on-site planning performance, and a To ease the manual parking burdens, parking assist systems
receding-horizon optimization framework is proposed for online
maneuver planning. A series of parallel parking cases is tested, have been developed by automobile manufacturers. Toyota
and simulation results demonstrate that our proposal is efficient Prius is the first model equipped with an automatic parking
even when the slot length is merely 10.19% larger than the car system, which appeared on the market in 2003. Ever since the
length. As a unified maneuver planner, our adopted IPM-based first commercial availability, productions developed by Audi,
simultaneous dynamic optimization method can deal with any BMW, Ford, Land Rover, Mercedes-Benz, and Nissan have also
user-specified demand provided that it can be explicitly described.
hit the market [5], [6]. In spite of the prosperous developments,
Index Terms—Autonomous vehicles, motion planning, time- challenges remain in coping with harsh parking scenarios. A
optimal control, nonholonomic systems, nonlinear optimization, recent publication even alleges that no real product in this
intelligent vehicle.
industry is known to outperform a human driver in making
I. I NTRODUCTION smart enough decisions [7].
Autonomous parking generally consists of three sequential
P ARALLEL parking refers to stopping a car parallel to
the road, in line with other parked cars. Parallel parking
commonly requires initially driving past the parking spot and
stages, namely, circumstance perception, maneuver planning,
and control implementation [8]. Circumstance perception con-
tributes to detecting a parking slot, maneuver planning refers
to the generation of parking motions according to the detected
circumstance, while control implementation concerns how to
Manuscript received December 5, 2014; revised May 28, 2015, execute the planned maneuvers. Prevailing research studies in
September 15, 2015, and January 5, 2016; accepted March 12, 2016. Date
of publication May 2, 2016; date of current version October 28, 2016. This this community care more about the control stage than about
work was supported in part by the 973 Program of China under Grant the maneuver planning stage, they believe that control imple-
2012CB720503; by the National Natural Science Foundation of China under mentation compensates for the roughly planned maneuvers but
Grant 61374167; and by the National College Students’ Innovative and Entre-
preneurial Training Program under Grant 201210006050. The Associate Editor this viewpoint is misleading, especially in dealing with harsh
for this paper was M. Da Lio. scenarios: suppose an automobile drives along a narrow and
Source codes of this work are available at https://www.researchgate.net/ delicate passage, a rough maneuver planner is not capable to
publication/298433602. For the convenience of understanding, a video that
contains the simulated cases is available at http://www.tudou.com/programs/ safely conclude whether this passage is passable! In this sense,
view/I9XRLgUaqnk/. it is the maneuver planning stage that makes decisions during a
B. Li and K. Wang are with the College of Control Science and Engineer- parking process, i.e., to decide how intelligent an entire parking
ing, Zhejiang University, Hangzhou 310027, China (e-mail: libai@zju.edu.cn;
kxwang@iipc.zju.edu.cn). assist system is [6]. This study concerns about the maneuver
Z. Shao is with State Key Laboratory of Industrial Control Technology, planning issue in parallel parking.
College of Control Science and Engineering, Zhejiang University, Hangzhou Maneuver planning of wheeled vehicles has attracted interest
310027, China (e-mail: szj@zju.edu.cn). in the community of robotics for long. Wheeled locomotion
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. imposes non-integrable kinematic constraints on the vehicle
Digital Object Identifier 10.1109/TITS.2016.2546386 motion, making the planning problem difficult [9]. The authors
1524-9050 © 2016 IEEE. Translations and content mining are permitted for academic research only. Personal use is also permitted, but republication/redistribution
requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
3264 IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, VOL. 17, NO. 11, NOVEMBER 2016
interior-point method (IPM) thereafter. Strategies that facilitate Similarly, control variables u(t) and algebraic states ζ(t) can
be represented by piecewise Lagrange polynomials:
the NLP-solving process are preliminarily proposed. ⎛ ⎞
K K
(τ − τ )
A. Dynamic Optimization Problem Solver u(t) = ⎝uij · k ⎠ (14)
j=1
(τj − τk )
k=1,=j
Simultaneous dynamic optimization method is featured by ⎛ ⎞
discretizing not only control variables but state variables as K
K
(τ − τ )
well, thereby being equivalent to a fully implicit Runge-Kutta ζ(t) = ⎝ζij · k ⎠
. (15)
j=1
(τj − τ k)
method with excellent stability and high order accuracy [39]. k=1,=j
Our concerned dynamic optimization problem in Section II Herein, u(t) and ζ(t) can be discontinuous at finite element
can be generalized as boundaries, as depicted in Fig. 6. Substituting (12)–(15) into
min ϕ (z(tf )) (11) yields an NLP formulation:
⎧
⎪
⎪
dz(t)
dt = F (z(t), ζ(t), u(t)) min ϕ (z(tf ))
⎪
⎪
⎪
⎪
zij ,ζij ,uij
TABLE II
M ANEUVER P LANNING C ASES 1–10
Fig. 12. Optimized motion in Case 4. The terminal maneuvers are zoomed in
at the upper left corner.
V. D ISCUSSIONS
This section provides in-depth analyses behind the obtained
simulation results. Fig. 14. Optimized motion in Case 8.
LI et al.: MANEUVER PLANNING IN AUTOMATIC PARALLEL PARKING USING AN OPTIMIZATION APPROACH 3271
Fig. 15. Optimized control/state profiles in Case 1. Fig. 18. Optimized control/state profiles in Case 4.
Fig. 21. Control horizon lengths and online computation duration periods in
receding-horizon replanning process (Case 10).
Fig. 20. Illustration on the performance of offline initialization strategy. The
curves denote selected paths of point P during the parallel parking process
(Case 2). The terminal maneuvers are zoomed in at the upper left corner.
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