Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Path Planning for Perpendicular Parking of Large Articulated Vehicles Based on Qualitative Kinematics and Geometric Methods

Version 1 : Received: 5 June 2023 / Approved: 7 June 2023 / Online: 7 June 2023 (10:44:54 CEST)

A peer-reviewed article of this Preprint also exists.

Han, I. Path Planning for Perpendicular Parking of Large Articulated Vehicles Based on Qualitative Kinematics and Geometric Methods. Vehicles 2023, 5, 876-893. Han, I. Path Planning for Perpendicular Parking of Large Articulated Vehicles Based on Qualitative Kinematics and Geometric Methods. Vehicles 2023, 5, 876-893.

Abstract

Since large articulated vehicles have uncertainties in trailer articulation angle as well as dynamic complexity, it is not easy to accurately establish a reliable motion plan. In this paper, two geometric path plans constructed based on the empirical rules of driving experts are presented so that articulated vehicles can automatically perform perpendicular parking on a reverse path. By analyzing the empirical parking methods of professional drivers, these path plans were constructed by appropriately combining several standardized simple basic motions to facilitate implementation in real vehicles. In addition, path plans included appropriate complementary motions to effectively respond to uncertainties arising from articulation angles, etc. The complementary motions developed in this study are based on the results of qualitative analysis on the behavior of articulated vehicles. The usefulness of the proposed articulated vehicle parking method has been proven through hundreds of experimental tests using a 1:10 ratio model automated vehicle.

Keywords

large articulated vehicles; automated perpendicular parking; geometric path plans; empirical methods; articulation angles; qualitative kinematics; uncertainties

Subject

Engineering, Automotive Engineering

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