TY - GEN
T1 - A Multi-Objective Parking Space Decision-Making and Path Planning Method
AU - Wang, Wei
AU - Wang, Meiling
AU - Yue, Yufeng
AU - Yang, Yi
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Autonomous decision-making and path planning in automated valet parking can improve the safety and intelligence of vehicles. As the complexity of executing tasks continues to increase, autonomous vehicles need to perform decision-making with multiple variables and target points. To plan a path in such cases, balancing computation efficiency and search range remains challenging. To address the problems mentioned above, this paper proposes a multi-objective parking space decision-making and path planning method. First, considering the uncertainty of parking occupancy distribution, a multi-objective function is designed to select optimal parking space with multiple midpoints. Then, based on the target parking space and sequence of multiple midpoints in the decision-making stage, the path planner generates a feasible path by using the prior information of the parking lot's topology. The experiment demonstrates that the proposed method achieves a significant improvement in efficiency and cost compared with traditional algorithms.
AB - Autonomous decision-making and path planning in automated valet parking can improve the safety and intelligence of vehicles. As the complexity of executing tasks continues to increase, autonomous vehicles need to perform decision-making with multiple variables and target points. To plan a path in such cases, balancing computation efficiency and search range remains challenging. To address the problems mentioned above, this paper proposes a multi-objective parking space decision-making and path planning method. First, considering the uncertainty of parking occupancy distribution, a multi-objective function is designed to select optimal parking space with multiple midpoints. Then, based on the target parking space and sequence of multiple midpoints in the decision-making stage, the path planner generates a feasible path by using the prior information of the parking lot's topology. The experiment demonstrates that the proposed method achieves a significant improvement in efficiency and cost compared with traditional algorithms.
KW - automated valet parking
KW - multi-objective optimality
KW - parking space decision-making
KW - path planning
UR - http://www.scopus.com/inward/record.url?scp=85124150283&partnerID=8YFLogxK
U2 - 10.1109/ICUS52573.2021.9641394
DO - 10.1109/ICUS52573.2021.9641394
M3 - Conference contribution
AN - SCOPUS:85124150283
T3 - Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
SP - 672
EP - 677
BT - Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
Y2 - 15 October 2021 through 17 October 2021
ER -