TR2022-056
Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning
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- "Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9812309, May 2022, pp. 10890-10897.BibTeX TR2022-056 PDF
- @inproceedings{Leu2022may,
- author = {Leu, Jessica and Wang, Yebin and Tomizuka, Masayoshi and Di Cairano, Stefano},
- title = {Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2022,
- pages = {10890--10897},
- month = may,
- doi = {10.1109/ICRA46639.2022.9812309},
- url = {https://www.merl.com/publications/TR2022-056}
- }
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- "Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9812309, May 2022, pp. 10890-10897.
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MERL Contacts:
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Research Areas:
Abstract:
This paper presents an integrated motion planning system for autonomous vehicle (AV) parking in the presence of other moving vehicles. The proposed system includes 1) a hybrid environment predictor that predicts the motions of the surrounding vehicles and 2) a strategic motion planner that reacts to the predictions. The hybrid environment predictor per- forms short-term predictions via an extended Kalman filter and an adaptive observer. It also combines short-term predictions with a driver behavior cost-map to make long-term predictions. The strategic motion planner comprises 1) a model predictive control-based safety controller for trajectory tracking; 2) a search-based retreating planner for finding an evasion path in an emergency; 3) an optimization-based repairing planner for planning a new path when the original path is invalidated. Simulation validation demonstrates the effectiveness of the proposed method in terms of initial planning, motion prediction, safe tracking, retreating in an emergency, and trajectory repairing.
Related News & Events
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NEWS MERL researchers presented 5 papers and an invited workshop talk at ICRA 2022 Date: May 23, 2022 - May 27, 2022
Where: International Conference on Robotics and Automation (ICRA)
MERL Contacts: Ankush Chakrabarty; Stefano Di Cairano; Siddarth Jain; Devesh K. Jha; Pedro Miraldo; Daniel N. Nikovski; Arvind Raghunathan; Diego Romeres; Abraham P. Vinod; Yebin Wang
Research Areas: Artificial Intelligence, Machine Learning, RoboticsBrief- MERL researchers presented 5 papers at the IEEE International Conference on Robotics and Automation (ICRA) that was held in Philadelphia from May 23-27, 2022. The papers covered a broad range of topics from manipulation, tactile sensing, planning and multi-agent control. The invited talk was presented in the "Workshop on Collaborative Robots and Work of the Future" which covered some of the work done by MERL researchers on collaborative robotic assembly. The workshop was co-organized by MERL, Mitsubishi Electric Automation's North America Development Center (NADC), and MIT.
Related Publication
- @article{Leu2022apr,
- author = {Leu, Jessica and Wang, Yebin and Tomizuka, Masayoshi and Di Cairano, Stefano},
- title = {Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning},
- journal = {arXiv},
- year = 2022,
- month = apr,
- url = {https://arxiv.org/abs/2204.10383}
- }