NDLI: Optimal control problem of multi-vehicle cooperative autonomous parking trajectory planning in a connected vehicle environment

Content Provider	IET Digital Library
Author	Wu, Bing Qian, Lijun Lu, Meiling Qiu, Duoyang Liang, Haiqin
Abstract	The development of intelligent network and intelligent vehicle technology makes it possible for multi-vehicle cooperative driving. In this study, the multi-vehicle cooperative autonomous parking condition is addressed by establishing a vehicle kinematics model combined with dynamic constraints and endpoint and collision avoidance constraints. The autonomous parking trajectory planning problem is transformed into an optimal control problem. The shortest parking completion time is set as the optimal cost function, and the optimal control problem is discretised by using the Gauss pseudo-spectral method. Then, the non-linear programming problem is solved. Moreover, an initial guess generation strategy is proposed, and the iteration method is used to solve the problem by adding collision avoidance constraints to the collision situation of the vehicle to improve the convergence and robustness of the problem. The simulation model is built in MATLAB/Simulink to simulate multi-vehicle cooperative autonomous parking under different working conditions. The simulation results show that the proposed method can solve the multi-vehicle cooperative autonomous parking trajectory planning problem uniformly and effectively. Compared with the traditional pseudo-spectral method, the proposed method has a faster convergence speed.
Starting Page	1677
Ending Page	1685
Page Count	9
ISSN	1751956X
Volume Number	13
e-ISSN	17519578
Issue Number	Issue 11, Nov (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-its/13/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-its.2019.0119
Journal	IET Intelligent Transport Systems
Publisher Date	2019-07-12
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Autonomous Parking Condition Autonomous Parking Trajectory Planning Problem Collision Avoidance Collision Avoidance Constraint Connected Vehicle Environment Intelligent Vehicle Technology Interpolation And Function Approximation Iterative Method Linear Programming Mathematics Computing Mobile Robots Nonlinear Programming Nonlinear Programming Problem Numerical Analysis Optimal Control Optimal Cost Function Optimisation Optimisation Technique Path Planning Shortest Parking Completion Time Spatial Variables Control Trajectory Control Vehicle Kinematics Model
Content Type	Text
Resource Type	Article
Subject	Law Transportation Environmental Science Mechanical Engineering

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