TR2022-056

Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning


    •  Leu, J., Wang, Y., Tomizuka, M., Di Cairano, S., ,, "Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning", IEEE International Conference on Robotics and Automation (ICRA), May 2022.
      BibTeX TR2022-056 PDF
      • @inproceedings{Leu2022may,
      • author = {Leu, Jessica and Wang, Yebin and Tomizuka, Masayoshi and Di Cairano, Stefano and },
      • title = {Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2022,
      • month = may,
      • url = {https://www.merl.com/publications/TR2022-056}
      • }
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  • Research Areas:

    Control, Optimization, Robotics

Abstract:

This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the surrounding vehicles and 2) a strategic motion planner that reacts to the predictions. The hybrid environment predictor per- forms short-term predictions via an extended Kalman filter and an adaptive observer. It also combines short-term predictions with a driver behavior cost-map to make long-term predictions. The strategic motion planner comprises 1) a model predictive control-based safety controller for trajectory tracking; 2) a search-based retreating planner for finding an evasion path in an emergency; 3) an optimization-based repairing planner for planning a new path when the original path is invalidated. Simulation validation demonstrates the effectiveness of the proposed method in terms of initial planning, motion prediction, safe tracking, retreating in an emergency, and trajectory repairing.

 

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  • Related Publication

  •  Leu, J., Wang, Y., Tomizuka, M., Di Cairano, S., "Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning", arXiv, April 2022.
    BibTeX arXiv
    • @article{Leu2022apr,
    • author = {Leu, Jessica and Wang, Yebin and Tomizuka, Masayoshi and Di Cairano, Stefano},
    • title = {Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning},
    • journal = {arXiv},
    • year = 2022,
    • month = apr,
    • url = {https://arxiv.org/abs/2204.10383}
    • }