Parallel Exit Parking Based on Model Predictive Control in Intelligent Vehicles

Autonomous vehicles are designed to perform the tasks of a human driver. It is expected from these vehicles to improve road network capacity and make roads safer. Nowadays, with the daily increase in the number of vehicles and traffic on urban roads, a parking issue has become an important and challenging problem since it is a stressful and difficult task even for skillful drivers. Generally, any exit parking issue can be defined in three categories: environmental perception, path planning, and tracking. In this study, a parallel exit parking method based on Model Predictive Control(MPC) is provided. First, the vehicle dynamic model, which is called the bicycle model, is used for the exit parking scenario. Second, In path planning, a fifth degrees polynomial is applied due to its continuity and smoothness; besides, an obstacle avoidance method is provided. Third, in order to track the planned path, MPC strategy is applied. Finally, simulation results demonstrate the effectiveness of the proposed method.

کلیدواژه ها:

Exit Parking ، Model Predictive Control ، Intelligent Vehicles ، Path Planning ، Tracking