자율주차 상황에서 차량 구속 조건 고려에 따른 경로 계획 및 추종 성능의 비교 분석
A Comparative Analysis of Path Planning and Tracking Performance According to the Consideration of Vehicle’s Constraints in Automated Parking Situations
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Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle’s kinematic constraints such as minimum turning radius or steering velocity. In a complex parking lot, Rapidly-exploring Random Tree* (RRT*) can be used for planning a parking path, and Reeds-Shepp or Hybrid Curvature can be applied as a tree-extension method to consider the vehicle’s constraints. In this case, each of these methods may affect the computation time of planning the parking path, path-tracking error, and parking success rate. Therefore, in this study, we conduct comparative analysis of two tree-extension functions: Reeds-Shepp (RS) and Hybrid Curvature (HC), and show that HC is a more appropriate tree-extension function for parking path planning. The differences between the two functions are introduced, and their performances are compared by applying them with RRT*. They are tested at various parking scenarios in simulation, and their advantages and disadvantages are discussed by computation time, cross-track error while tracking the path, parking success rate, and alignment error at the target parking spot. These results show that HC generates the parking path that an autonomous vehicle can track without collisions and HC allows the vehicle to park with lower alignment error than those of RS.
Abstract
Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle’s kinematic constraints such as minimum turning radius or steering velocity. In a complex parking lot, Rapidly-exploring Random Tree* (RRT*) can be used for planning a parking path, and Reeds-Shepp or Hybrid Curvature can be applied as a tree-extension method to consider the vehicle’s constraints. In this case, each of these methods may affect the computation time of planning the parking path, path-tracking error, and parking success rate. Therefore, in this study, we conduct comparative analysis of two tree-extension functions: Reeds-Shepp (RS) and Hybrid Curvature (HC), and show that HC is a more appropriate tree-extension function for parking path planning. The differences between the two functions are introduced, and their performances are compared by applying them with RRT*. They are tested at various parking scenarios in simulation, and their advantages and disadvantages are discussed by computation time, cross-track error while tracking the path, parking success rate, and alignment error at the target parking spot. These results show that HC generates the parking path that an autonomous vehicle can track without collisions and HC allows the vehicle to park with lower alignment error than those of RS.
참고문헌 (12)
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