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

Jaeyoung Moon; Il Bae; Shiho Kim

doi:10.1109/IVS.2017.7995719

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

Jaeyoung Moon, Il Bae, Shiho Kim

School of Integrated Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

23 Citations (Scopus)

Abstract

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 language	English
Title of host publication	IV 2017 - 28th IEEE Intelligent Vehicles Symposium
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	193-196
Number of pages	4
ISBN (Electronic)	9781509048045
DOIs	https://doi.org/10.1109/IVS.2017.7995719
Publication status	Published - 2017 Jul 28
Event	28th IEEE Intelligent Vehicles Symposium, IV 2017 - Redondo Beach, United States Duration: 2017 Jun 11 → 2017 Jun 14

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings

Other

Other	28th IEEE Intelligent Vehicles Symposium, IV 2017
Country/Territory	United States
City	Redondo Beach
Period	17/6/11 → 17/6/14

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:; ekuno90@yonsei.ac.kr, kakao@yonsei.ac.kr, and shiho@yonsei.ac.kr).

Publisher Copyright:
© 2017 IEEE.

All Science Journal Classification (ASJC) codes

Computer Science Applications
Automotive Engineering
Modelling and Simulation

Access to Document

10.1109/IVS.2017.7995719

Cite this

Moon, J., Bae, I., & Kim, S. (2017). Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach. In IV 2017 - 28th IEEE Intelligent Vehicles Symposium (pp. 193-196). Article 7995719 (IEEE Intelligent Vehicles Symposium, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2017.7995719

@inproceedings{e0a3d23a66c44d0684fca041bc3b8db0,

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

abstract = "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.",

author = "Jaeyoung Moon and Il Bae and Shiho Kim",

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:; ekuno90@yonsei.ac.kr, kakao@yonsei.ac.kr, and shiho@yonsei.ac.kr). Publisher Copyright: {\textcopyright} 2017 IEEE.; 28th IEEE Intelligent Vehicles Symposium, IV 2017 ; Conference date: 11-06-2017 Through 14-06-2017",

year = "2017",

month = jul,

day = "28",

doi = "10.1109/IVS.2017.7995719",

language = "English",

series = "IEEE Intelligent Vehicles Symposium, Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "193--196",

booktitle = "IV 2017 - 28th IEEE Intelligent Vehicles Symposium",

address = "United States",

}

Moon, J, Bae, I & Kim, S 2017, Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach. in IV 2017 - 28th IEEE Intelligent Vehicles Symposium., 7995719, IEEE Intelligent Vehicles Symposium, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 193-196, 28th IEEE Intelligent Vehicles Symposium, IV 2017, Redondo Beach, United States, 17/6/11. https://doi.org/10.1109/IVS.2017.7995719

Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach. / Moon, Jaeyoung; Bae, Il; Kim, Shiho.
IV 2017 - 28th IEEE Intelligent Vehicles Symposium. Institute of Electrical and Electronics Engineers Inc., 2017. p. 193-196 7995719 (IEEE Intelligent Vehicles Symposium, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Real-Time near-optimal path and maneuver planning in automatic parking using a simultaneous dynamic optimization approach

AU - Moon, Jaeyoung

AU - Bae, Il

AU - Kim, Shiho

N1 - 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:; ekuno90@yonsei.ac.kr, kakao@yonsei.ac.kr, and shiho@yonsei.ac.kr). Publisher Copyright: © 2017 IEEE.

PY - 2017/7/28

Y1 - 2017/7/28

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85028083859&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85028083859&partnerID=8YFLogxK

U2 - 10.1109/IVS.2017.7995719

DO - 10.1109/IVS.2017.7995719

M3 - Conference contribution

AN - SCOPUS:85028083859

T3 - IEEE Intelligent Vehicles Symposium, Proceedings

SP - 193

EP - 196

BT - IV 2017 - 28th IEEE Intelligent Vehicles Symposium

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 28th IEEE Intelligent Vehicles Symposium, IV 2017

Y2 - 11 June 2017 through 14 June 2017

ER -

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

Abstract

Publication series

Other

Bibliographical note

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this