重み付きグラフ作成にもとづく自動車庫入れシステム

概要

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In this paper, we propose a practical automatic parking system of a vehicle, which has geometric constraints for its trajectories, based on weighted graphs for path planning. The path plan consists of the ordered combination of lattice nodes virtually arranged within the system as landmarks. While, the graphs are formed more specifically with vehicle states composed by selected node I.D. number and vehicle heading angle on these node positions. The best graph is searched with Genetic Algorithm, one of the powerful methods for optimal combination problems. Besides, learning ability for impassable regions refines the path search so as to be adaptive to the layout of the path planning space surrounded by walls. As a result of computer simulations, we show the system has a potential to be emplyoed principally in real application.
2000-08-25