射影変換を用いた障害物回避制約を考慮したモデル予測型自動駐車用経路生成法の提案

抄録

This paper proposes a model predictive trajectory planning method with collision avoidance in narrow parking spaces such as the case that parking would not be completed by one motion of cutting the wheel. Rectangle expression is used for all objects, and obstacle avoidance constraint is defined by a concise inequality with a coordinate transformation from rectangle to circle shape for each object. Switching of moving forward and backward is conducted regardless of the position and the number of times by tuning weights of the cost function and mechanical constraints for a vehicle. Verification is conducted for the performance of strict obstacle avoidance in a narrow environment and calculation time for optimization using the proposed method by numerical simulations.