Road Boundary Modeling for Autonomous Bus Docking Subject to Rectangular Geometry Constraints
Paper i proceeding, 2021

This paper studies the optimization problem of autonomous bus parallel parking subjected to rectangular geometry constraints. The parking space is a non-smooth and non-convex irregular polygon. We propose a novel method for modeling geometry constraints, which allows using the exact non-smooth parking space, while still being able to formulate the problem as a smooth nonlinear program. The focus of this paper is to compare our method to two other approaches of modeling rectangular geometry constraints, where one uses mixed-integers while the other approximates the rectangle as a smooth function. We show that our novel method prevents collisions and requires shorter computation time, where collision constraints are imposed on a limited number of points on the vehicle contour.

OCP

polygon

CasaDi

nonlinear program

direct multiple-shooting

path planning

geometry constraints

parking

autonomous bus

rectangle

Författare

Amal Elawad

Chalmers, Elektroteknik, System- och reglerteknik

Nikolce Murgovski

Chalmers, Elektroteknik, System- och reglerteknik

Mats Jonasson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Jonas Sjöberg

Chalmers, Elektroteknik, System- och reglerteknik

19th European Control Conference (ECC) 2021

1745-1750
9789463842365 (ISBN)

2021 European Control Conference (ECC)
Delft, Netherlands,

Automatisering av stadsbussar, busståg, hållplatsdockning och depåprocesser

VINNOVA (2017-03033), 2017-10-12 -- 2020-09-30.

Styrkeområden

Transport

Ämneskategorier

Reglerteknik

DOI

10.23919/ECC54610.2021.9655190

Mer information

Senast uppdaterat

2022-04-20