Çift taraflı park edilmiş dar sokaklarda paralel park için geometrik yol planlaması

Yıl 2023, Cilt: 6 Sayı: 2, 326 - 343, 23.10.2023

Emrecan Hatipoglu , Mert Kadir Assoy , Mesut Kaya , Mert Ezim , Mete Oğuz , Emir Kutluay

https://doi.org/10.51513/jitsa.1311698

Öz

Bu yayında, Ackermann yönlendirme geometrisini temel alan, otonom paralel park için çarpışmayı önleyici yol planlayıcı algoritma önerilmektedir. İki düz çizgi ve iki özdeş daireye dayalı bir yol oluşturmak için geometrik yol planlama algoritması kullanılmaktadır. Algoritma, yolun sol tarafının park etmiş araçlarla dolu olduğunu hesaba katmaktadır. Ego araca ait, düşük hızlı park senaryosuna ve izin verilen en geniş direksiyon açısına uygun kinematik model, mekanik ve çevresel sınırlar dikkate alınarak yol planlama aşamasında kullanılmaktadır. Gerekli park yeri uzunluğu, direksiyon açısına göre elde edilmektedir. Algoritma, diğer park etmiş arabalara paralel olması durumunda ego aracın yanal konumuna göre kendini uyarlayabilir. Ego aracın çevre modelindeki yanal konumuna göre kullanılacak direksiyon açısı ve gerekli park yeri uzunluğu grafikler ile ifade edilmektedir.

Anahtar Kelimeler

Otonom paralel park, yol planlama, Ackermann yönlendirme geometrisi, sürücü asistan sistemleri

Geometric path planning for parallel parking on double side parked narrow streets

Öz

The aim of the paper is to propose collision-free path planning algorithm for autonomous parallel parking based on Ackermann steering geometry. A geometrical path planning algorithm has been employed for generating a path that is based on two straight lines and two identical circles. The algorithm is taking into account that the left side of the street is taken as another parking slot occupied by full of cars. The ego’s kinematics model appropriate for the low-velocity parking scenario and the maximum allowable steering angle for the narrow streets is used in the path planning stage by considering mechanical and environmental limits. According to the steering angle, required length of the parking space is obtained. The algorithm can adapt itself according to the lateral position of the ego in case it is parallel to other parked cars. The steering angle to be used and the required parking space length according to the lateral position of the vehicle in the environmental model are given with graphics.

Anahtar Kelimeler

Autonomous parallel parking, path planning, Ackermann steering geometry, driver assistance systems

Kaynakça

• Ballinas, E., Montiel, O., Castillo, O., Rubio, Y., & Aguilar, L. T. (2018). Automatic Parallel Parking Algorithm for a Carlike Robot using Fuzzy PD+ I Control. Engineering Letters, 26(4).
• Garg, R., Zanardo, G. S., Schmied, R., & del Re, L. (2016, July). Simulating the effect of ultrasonic ranging errors on parallel parking performance. In 2016 3rd International Conference on Advances in Computational Tools for Engineering Applications (ACTEA) (pp. 114-119). IEEE.
• Hatipoglu, E., & Kutluay. E. (2021). Geometric path planning for parallel parking and relevant parameters. Advances in Automotive Engineering, Vol. 2, No. 1 (2021) 1-14 https://doi.org/10.12989/aae.2021.2.1.001
• Metin, F., & Sezer, V. (2021). Analysis and improvement of geometric parallel parking methods with respect to the minimum final lateral distance to the parking spot. International Journal of Intelligent Transportation Systems Research, 19(2), 441-455.
• Sungwoo, C. H. O. I., Boussard, C., & d'Andréa-Novel, B. (2011). Easy path planning and robust control for automatic parallel parking. IFAC Proceedings Volumes, 44(1), 656-661.
• Tan, J., Xu, C., Li, L., Wang, F. Y., Cao, D., & Li, L. (2019). Guidance control for parallel parking tasks. IEEE/CAA Journal of Automatica Sinica, 7(1), 301-306.
• Tavakoli, E., Ibrahimi, F., Alipanah, A., & Delrobaei, M. (2020, December). A Novel Intelligent Parallel Parking System Based on Fuzzy Logic Without Using Sensor. In 2020 6th Iranian Conference on Signal Processing and Intelligent Systems (ICSPIS) (pp. 1-5). IEEE.
• Url-1 < https://inrix.com/resources/inrix-2017-global-traffic-scorecard//>, date retrieved 13.04.2023.
• Url-2 < https://nacto.org/docs/usdg/from_parking_to_park_dai.pdf>, date retrieved 29.06.2006.
• Wang, L., Guo, L., & He, Y. (2017, December). Path Planning Algorithm for Automatic Parallel Parking from Arbitrary Initial Angle. In 2017 10th International Symposium on Computational Intelligence and Design (ISCID) (Vol. 2, pp. 55-58). IEEE.
• Yu, L., Wang, X., Hou, Z., Du, Z., Zeng, Y., & Mu, Z. (2021). Path planning optimization for driverless vehicle in parallel parking integrating radial basis function neural network. Applied Sciences, 11(17), 8178.
• Zhang, B., Li, Z., Ni, Y., & Li, Y. (2022). Research on Path Planning and Tracking Control of Automatic Parking System. World Electric Vehicle Journal, 13(1), 14.
• Zhang, J., Shi, Z., Yang, X., & Zhao, J. (2020). Trajectory planning and tracking control for autonomous parallel parking of a non-holonomic vehicle. Measurement and Control, 53(9-10), 1800-1816.