Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach

Jaeyoung Moon, Il Bae, Shiho Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)


We propose a real-Time near-optimal motion and trajectory planner using an interior-point method (IPM) based simultaneous dynamic optimization approach applicable to automatic parallel parking. Partitioning an automatic parking zone into two areas with and without inequality constraints drastically improves the convergence efficiency of the IPM-based simultaneous dynamic optimization of nonlinear programs while retaining the accuracy and stability of simulation for optimization. An optimal ready-To-reverse point (RRP), from where backward moving parking maneuver starts, is provided based on the cost function of the tracking time and additional delayed time of gear shifts caused by multiple maneuvers. The stability and accuracy of the proposed method was verified through simulation using AMPL with an IPOPT solver.

Original languageEnglish
Title of host publicationIV 2017 - 28th IEEE Intelligent Vehicles Symposium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages4
ISBN (Electronic)9781509048045
Publication statusPublished - 2017 Jul 28
Event28th IEEE Intelligent Vehicles Symposium, IV 2017 - Redondo Beach, United States
Duration: 2017 Jun 112017 Jun 14

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings


Other28th IEEE Intelligent Vehicles Symposium, IV 2017
Country/TerritoryUnited States
CityRedondo Beach

Bibliographical note

Funding Information:
* This research was supported by the MSIP (Ministry of Science, ICT and -,-* $ &&"& '* -& * ,! 3 '&+"$" & * ,". *' * %5 (IITP-R0346-16-1008) supervised by the IITP (Institute for Information & communications Technology Promotion) The authors are with the Seamless Transportation Lab (STL), School of Integrated Technology, and Yonsei Institute of Convergence Technology, International Campus, Yonsei University, Incheon 21983, Korea (e-mail:;,, and

Publisher Copyright:
© 2017 IEEE.

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Automotive Engineering
  • Modelling and Simulation


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