Parallel parking operation model for driverless vehicles based on driver experiences

doi:10.3969/j.issn.1674-8484.2023.02.006

Abstract

Abstract:

A parallel parking operation model was proposed for driverless vehicles with fully integrated drivers' parking experience and with less parking energy consumption. The driver's parallel parking experiences were summarized and described as an operation model of the steering wheel rotation angle with double trapezoidal curve image. A parallel parking quality evaluation system was established for three configuration parameters at the key trajectory points of the model to find the influence law of the parameters about parking quality. The double trapezoidal operation model was optimized and rectified by considering the vehicle kinematic constraints and the no-collision constraints. The comparative validations were carried out under multiple algorithms with the adaptive validation under different variable situations on a 6.6 m driverless bus. The results show that the double-trapezoidal operation model has a more fluent parking process with a less energy consumption by 44.7% reducing for eliminating the tracking link, compared with the traditional parking methods of quantic-polynomial trajectory-planning and proportional integral-differential control.

Key words: autonomous vehicle, parallel parking, driver experience, operation model, steering wheel rotation angle, trajectory planning

CLC Number:

U461.8

XIU Guotao, XIE Hui, SONG Kang, BI Fengrong. Parallel parking operation model for driverless vehicles based on driver experiences[J]. Journal of Automotive Safety and Energy, 2023, 14(2): 191-201.

Figures/Tables 23

References 16

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整车质量，m	2.978 t
轴距，l	2.840 m
前悬，l_f	1.360 m
后悬，l_b	1.690 m
车宽，w	2.360 m
转向系数，α	25
最大方向盘转角，δ_max	485°

整车质量，m	2.978 t
轴距，l	2.840 m
前悬，l_f	1.360 m
后悬，l_b	1.690 m
车宽，w	2.360 m
转向系数，α	25
最大方向盘转角，δ_max	485°

分类	计算耗时 s	成功率 %	总评分 %	总耗时 s	总能耗 kJ
模拟退火法	0.663	86	87.96	14.03	1.108
最优边界干涉法	0.201	100	88.09	14.02	1.092

分类	计算耗时 s	成功率 %	总评分 %	总耗时 s	总能耗 kJ
模拟退火法	0.663	86	87.96	14.03	1.108
最优边界干涉法	0.201	100	88.09	14.02	1.092

长×宽×高	6.605 m ×2.320 m ×2.287 m
整车质量，m	5.8 t
轴距，l	4.400 m
前悬，l_f	1.000 m
后悬，l_b	1.205 m
转向系数，α	17.8
最大方向盘转角，δ_max	485°