Autonomous vehicle parallel parking design using function fitting approaches

摘要

One of the most fundamental problems in the development of an intelligent highway system or an autonomous mobile robot system for factory use is to find the necessary input control variables for smooth and safe movement of the vehicle, or robot, between any two configurations. In this paper it is demonstrated that this problem can be converted into one of finding a fitting function which satisfies the boundary conditions. Three curves, a quintic polynomial, a cubic polynomial and a triangular function are developed to perform the parallel transfer manoeuver which forms the bass of several important manoeuvres such as reverse parking, moving off, negotiating a stationary obstacle, overtaking a moving vehicle, and changing lane.