Parking Path Planning

Simple and effective parking path planning based on geometric curve and MPC optimization. (From Feb 2021 to Aug 2021)

Parking Path Planning in AVP System

The whole system is consisted of outdoor/indoor localization, parking slot perception, path planning and trakcing control.The overall framework is as following： png

Firstly, the minimum road width required for one-step parking is calculated by considering the geometric relationship between the initial position of the vehicle and the parking slot. Secondly, the parking path is determined based on the collision constraints of the parking slot. Finally, we establish the vehicle kinematics error model and use the MPC algorithm to optimize the parking path. png png

AVP system demo in Tongji University： gif

This research havs supported many engineering projects

AVP system for SAIC Motor Corporation, Ltd. (mass-produced electric vehicle: Marvel X) png

AVP system for New Energy Vehicle Corporation, Jiangxi Jiangling Motors Group. gif png

Autonomous Parking of Tiev-Plus vehicl for China Future Challenge of Intelligent Vehicles png

Publications:

  1. Zhuoren Li, Lu Xiong, Bo Leng, et.al. Path Planning Method for Perpendicular Parking Based on Vehicle Kinematics Model Using MPC Optimization. SAE Technical Papers, 2022-01-0085, 2022.