控制与信息技术Issue(1)：1-13,13.DOI:10.13889/j.issn.2096-5427.2024.01.200
自动泊车运动规划方法综述
Motion Planning Methods for Automated Parking:A Comprehensive Review
摘要
Abstract
Automated parking stands as a cornerstone technology for autonomous vehicles operating in low-speed scenarios and has been extensively integrated into various vehicle models.Motion planning represents a pivotal technical module that generates planned trajectories to ensure vehicle movement from its initial pose to the target pose without collisions while aligning with kinematics rules,epitomizing the intelligence level of automated parking.In the context of ongoing transitions of automated driving technology from preliminary prototype research to industrial applications,automated parking technology in the realm of low-speed autonomous driving emerges as a critical area primed for breakthroughs.This paper offers a thorough review of the motion planning methods applied within the automated parking domain,categorizing them into geometric methods,sampling methods,search methods,numerical optimization methods,and machine learning methods.This paper also retrospectively examines their development and characteristics.Furthermore,this paper delves into the future directions of motion planning research for automated parking,with a particular focus on constructing more generalized models,enhancing the stability of planning methods,emphasizing the capabilities for online real-time high-quality re-planning and defensive driving,and addressing interactions with other traffic participants.关键词
自动泊车/运动规划/路径规划/轨迹规划Key words
automated parking/motion planning/path planning/trajectory planning分类
交通工程引用本文复制引用
陈晓明,李柏,范丽丽,张友民..自动泊车运动规划方法综述[J].控制与信息技术,2024,(1):1-13,13.基金项目
国家自然科学基金项目(62103139) （62103139）
湖南省湖湘青年英才计划项目(2023RC3115) （2023RC3115）
湖南省自然基金项目(2021JJ40114) （2021JJ40114）
中央高校基本科研业务费项目(531118010509) （531118010509）
加拿大自然科学与工程研究委员会基金项目(RGPIN-2023-05661) （RGPIN-2023-05661）
复杂系统管理与控制国家重点实验室2022年度开放课题项目(E2S9021119) （E2S9021119）
