Automatic Parking Trajectory Planning Based on Warm Start Nonlinear Dynamic Optimization
In this paper, we propose an optimal parking path planning method based on numerical solving, which leverages the concept of the distance between convex sets. The obstacle avoidance constraints were transformed into continuous, smooth nonlinear constraints using the Lagrange dual function. This appr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/1/112 |
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| author | Hongbin Ren Yaqi Niu Yunong Li Lin Yang Hongliang Gao |
| author_facet | Hongbin Ren Yaqi Niu Yunong Li Lin Yang Hongliang Gao |
| author_sort | Hongbin Ren |
| collection | DOAJ |
| description | In this paper, we propose an optimal parking path planning method based on numerical solving, which leverages the concept of the distance between convex sets. The obstacle avoidance constraints were transformed into continuous, smooth nonlinear constraints using the Lagrange dual function. This approach enables the determination of a globally optimal parking path while satisfying vehicular kinematic constraints. To address the inefficiency typically associated with numerical solving, a warm start strategy was employed for the optimization variables: first, the Hybrid A* algorithm was utilized to generate the initial path values; next, a velocity planning problem was formulated to obtain initial velocity values; and finally, converted convex optimization problems were used to compute the initial dual variables. The optimality of the proposed method was validated through a real car test with ACADO as a solver in three typical parking scenarios. The results demonstrate that the proposed method achieved smoother parking paths in real time. |
| format | Article |
| id | doaj-art-8c4e34f11bba402485b9f722fb9ddf1a |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-8c4e34f11bba402485b9f722fb9ddf1a2025-01-10T13:20:55ZengMDPI AGSensors1424-82202024-12-0125111210.3390/s25010112Automatic Parking Trajectory Planning Based on Warm Start Nonlinear Dynamic OptimizationHongbin Ren0Yaqi Niu1Yunong Li2Lin Yang3Hongliang Gao4State Key Laboratory of Mechanical Transmission for Advanced Equipments, Chongqing University, Chongqing 400044, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaXi’an Aerospace Chemical Propulsion Co., Ltd., Xi’an 710089, ChinaIn this paper, we propose an optimal parking path planning method based on numerical solving, which leverages the concept of the distance between convex sets. The obstacle avoidance constraints were transformed into continuous, smooth nonlinear constraints using the Lagrange dual function. This approach enables the determination of a globally optimal parking path while satisfying vehicular kinematic constraints. To address the inefficiency typically associated with numerical solving, a warm start strategy was employed for the optimization variables: first, the Hybrid A* algorithm was utilized to generate the initial path values; next, a velocity planning problem was formulated to obtain initial velocity values; and finally, converted convex optimization problems were used to compute the initial dual variables. The optimality of the proposed method was validated through a real car test with ACADO as a solver in three typical parking scenarios. The results demonstrate that the proposed method achieved smoother parking paths in real time.https://www.mdpi.com/1424-8220/25/1/112Hybrid A*nonlinear optimizationwarm startautomatic parkingtrajectory planning |
| spellingShingle | Hongbin Ren Yaqi Niu Yunong Li Lin Yang Hongliang Gao Automatic Parking Trajectory Planning Based on Warm Start Nonlinear Dynamic Optimization Sensors Hybrid A* nonlinear optimization warm start automatic parking trajectory planning |
| title | Automatic Parking Trajectory Planning Based on Warm Start Nonlinear Dynamic Optimization |
| title_full | Automatic Parking Trajectory Planning Based on Warm Start Nonlinear Dynamic Optimization |
| title_fullStr | Automatic Parking Trajectory Planning Based on Warm Start Nonlinear Dynamic Optimization |
| title_full_unstemmed | Automatic Parking Trajectory Planning Based on Warm Start Nonlinear Dynamic Optimization |
| title_short | Automatic Parking Trajectory Planning Based on Warm Start Nonlinear Dynamic Optimization |
| title_sort | automatic parking trajectory planning based on warm start nonlinear dynamic optimization |
| topic | Hybrid A* nonlinear optimization warm start automatic parking trajectory planning |
| url | https://www.mdpi.com/1424-8220/25/1/112 |
| work_keys_str_mv | AT hongbinren automaticparkingtrajectoryplanningbasedonwarmstartnonlineardynamicoptimization AT yaqiniu automaticparkingtrajectoryplanningbasedonwarmstartnonlineardynamicoptimization AT yunongli automaticparkingtrajectoryplanningbasedonwarmstartnonlineardynamicoptimization AT linyang automaticparkingtrajectoryplanningbasedonwarmstartnonlineardynamicoptimization AT honglianggao automaticparkingtrajectoryplanningbasedonwarmstartnonlineardynamicoptimization |