TY - GEN
T1 - Trajectory planning for automated buses in parking areas
AU - Martin, Asier
AU - Lattarulo, Ray
AU - Zubizarreta, Asier
AU - Perez, Joshue
AU - Lopez-Garcia, Pedro
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Automated Vehicles (AVs) are complex, and they require solutions in different areas such as perception, communications, decision, and control. In urban environments, path planning for parking maneuvers is a relevant feature. There is a good amount of research on this topic considering passenger cars. However, there are some gaps considering automated buses. This work proposes a path planning approach for parking an automated bus that targets the fewer possible trajectories to complete the parking maneuver. The algorithm considers the vehicle geometry, its kinematics, and the blockage or availability of the surrounding parking spaces, to create a set of trajectories to complete the parking maneuver. The approach was tested in simulation environments considering an electric Gulliver minibus in the framework of the European project SHOW.
AB - Automated Vehicles (AVs) are complex, and they require solutions in different areas such as perception, communications, decision, and control. In urban environments, path planning for parking maneuvers is a relevant feature. There is a good amount of research on this topic considering passenger cars. However, there are some gaps considering automated buses. This work proposes a path planning approach for parking an automated bus that targets the fewer possible trajectories to complete the parking maneuver. The algorithm considers the vehicle geometry, its kinematics, and the blockage or availability of the surrounding parking spaces, to create a set of trajectories to complete the parking maneuver. The approach was tested in simulation environments considering an electric Gulliver minibus in the framework of the European project SHOW.
KW - Autonomous driving
KW - parking
KW - trajectory-planning
UR - http://www.scopus.com/inward/record.url?scp=85123287552&partnerID=8YFLogxK
U2 - 10.1109/ICSTCC52150.2021.9607247
DO - 10.1109/ICSTCC52150.2021.9607247
M3 - Conference contribution
AN - SCOPUS:85123287552
T3 - 2021 25th International Conference on System Theory, Control and Computing, ICSTCC 2021 - Proceedings
SP - 688
EP - 694
BT - 2021 25th International Conference on System Theory, Control and Computing, ICSTCC 2021 - Proceedings
A2 - Ferariu, Lavinia
A2 - Matcovschi, Mihaela-Hanako
A2 - Ungureanu, Florina
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 25th International Conference on System Theory, Control and Computing, ICSTCC 2021
Y2 - 20 October 2021 through 23 October 2021
ER -
