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dc.contributor.author선우명호-
dc.date.accessioned2016-11-07T06:51:42Z-
dc.date.available2016-11-07T06:51:42Z-
dc.date.issued2015-04-
dc.identifier.citationTechnical Paper, 2015-01-0298, Page. 1-5en_US
dc.identifier.issn0148-7191-
dc.identifier.urihttps://saemobilus.sae.org/content/2015-01-0298-
dc.identifier.urihttp://hdl.handle.net/20.500.11754/24202-
dc.description.abstractParking path planning is an essential technology for intelligent vehicles. Under a confined area, a parking path has to guide a vehicle into a parking space without collision. To realize this technology, circle-based planning algorithms have been studied. The main components of these algorithms are circles and straight lines; subsequently, the parking path of the algorithm is designed by the combination of these geometric lines. However, the circle-based algorithm was developed in an open space within an unlimited parking lot width, so a feasible path cannot always be guaranteed in a narrow parking lot. Therefore, we present a parking planning algorithm based on Turning Standard Line (TSL) that is a straight line segment. The algorithm uses the TSL lines to guide sequential quadratic Béizer curves. A set of these curves from parking start to goal position creates a continuous parking path. Although the size of free space in a parking lot is small, iterative TSL guides Béizer curves to draw a feasible parking path. We use a sampling technique to find the optimal path and select the minimum-cost path. The planning algorithm proposed in this paper is verified by simulation in various-size parking environments. The simulation results show that the generated path by this algorithm is adapted to the narrow width of a parking lot.en_US
dc.description.sponsorshipThis work was supported by the National Research Foundation (NRF) grant funded by the Korea government (MEST) (No. 2011-0017495), Industrial Strategy Technology Development Program of Ministry of Knowledge Economy (No. 10039673 and No. 10042633), Energy Resource R&D program (2006ETR11P091C) under the Ministry of Knowledge Economy. And it was also financially supported by the BK21 plus program (22A20130000045) under the Ministry of Education, Republic of Korea.en_US
dc.language.isoenen_US
dc.publisherSAEen_US
dc.titleTurning Standard Line (TSL) Based Path Planning Algorithm for Narrow Parking Lotsen_US
dc.typeArticleen_US
dc.identifier.doi10.4271/2015-01-0298-
dc.relation.page1-5-
dc.contributor.googleauthorLim, Wontaek-
dc.contributor.googleauthorKim, Junsoo-
dc.contributor.googleauthorJo, Kichun-
dc.contributor.googleauthorJo, Yongwoo-
dc.contributor.googleauthorSunwoo, Myoungho-
dc.sector.campusS-
dc.sector.daehakCOLLEGE OF ENGINEERING[S]-
dc.sector.departmentDEPARTMENT OF AUTOMOTIVE ENGINEERING-
dc.identifier.pidmsunwoo-
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COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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