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Automatic Parking Trajectory Planning Based on Multi-objective Optimal Trajectory Decision Algorithm
Ist Teil von
The 2nd International Conference on Computing and Data Science, 2021, p.1-7
Ort / Verlag
New York, NY, USA: ACM
Erscheinungsjahr
2021
Quelle
ACM Digital Library
Beschreibungen/Notizen
Trajectory planning is a key part of the automatic parking system. An effective trajectory planning method should quickly generate a safe and shortest trajectory which meets the non-holonomic constraints. In this paper we consider several possibilities of collision with obstacles in parking process, simplify and model the parking scene, and then a multi-objective optimal trajectory decision algorithm is proposed and the evaluation function of algorithm is combined with safety, feasibility, smoothness and efficiency. Finally the optimal value decision of the function is performed to obtain the optimal parking trajectory. The presented simulation results show that the proposed trajectory planning algorithm can effectively complete the automatic parking task.