AAC 2019 Paper Abstract

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Paper MoBT1.2

Janz, Alexej (IAV GmbH), Schramm, Johanna (Universität Bremen), Echim, Mitja (University of Bremen), Schrödel, Frank (IAV GmbH), Büskens, Christof (Univ of Bremen)

Model Based Path Optimization for Valet Parking with Trailer

Scheduled for presentation during the Regular Session "Motion and Path Planning for Autonomous Vehicle" (MoBT1), Monday, June 24, 2019, 15:50−16:10, Chambord

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Autonomous Driving and Collision Avoidance: Sensor Fusion, Modeling of the Environment, Control Architectures, Intelligent Vehicles and Robotics Technology in Vehicles

Abstract

In this article an approach for parking with trailer is designed. The path planning for backwards parking of a truck and trailer vehicle is a central aspect, especially the path optimization. For calculating the path a polynomial approach is applied. The used kinematic single track model and assumed smooth signals lead to a polynomial approach, where the starting and ending data like position, angle, curvature and its derivatives are interpolated. In this approach there appear degrees of freedom in the solution which interpolates the data independently of the choice for the mentioned variables. The problem can be stated as an optimization problem and the free parameters are optimized.

 

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