Automotive Science and Engineering
Iran University of Science & Technology
Sat, Jul 27, 2024
[Archive]
Volume 13, Issue 1 (3-2023)
ASE 2023, 13(1): 4062-4076 |
Back to browse issues page
Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Yar-Ahmadi M, Rahmanei H, Ghaffari A. Path Planning and Optimal Control for Autonomous Exit Parking. ASE 2023; 13 (1) :4062-4076
URL: http://www.iust.ac.ir/ijae/article-1-624-en.html
URL: http://www.iust.ac.ir/ijae/article-1-624-en.html
K.N.Toosi University of Technology
Abstract: (4296 Views)
The primary purpose of each autonomous exit parking system is to facilitate the process of exiting the vehicle, emphasizing the comfort and safety of driving in the absence of almost any human effort. In this paper, the problem of exit parking for autonomous vehicles is addressed. A nonlinear kinematic model is presented based on the geometric relationship of the vehicle velocities, and a linear time-varying discrete-time model of the vehicle is obtained for utilizing the optimal control strategy. The proposed path planning algorithm is based on the minimization of a geometric cost function. This algorithm works for ample space exit parking in Single-Maneuver and tight spaces in Multi-Maneuver exit parking. Finally, an optimal discrete-time linear quadratic control approach is hired to minimize a quadratic cost function. To evaluate the performance of the proposed algorithm, the control system is simulated by MATLAB/Simulink software. The results show that the optimal control strategy is well able to design and follow the desired path in each of the exit parking maneuvers.
Keywords: Autonomous Vehicle, Exit Parking, Linear Quadratic Tracking, Linear Time-varying Model, Path Planning.
Type of Study: Research |
Subject:
Autonomous vehicles
Send email to the article author
| Rights and permissions | |
 | This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. |
