Two-step trajectory planning for automatic parking:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Aachen
Shaker
2009
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| Schriftenreihe: | Berichte aus der Steuerungs- und Regelungstechnik
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| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XVI, 310 S. Ill., graph. Darst. 210 mm x 148 mm |
| ISBN: | 9783832285708 |
Internformat
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Datensatz im Suchindex
| _version_ | 1804140785938989056 |
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| adam_text | XIII CONTENTS 1 INTRODUCTION 1 1.1 MOTIVATION AND PROBLEM FORMULATION 1
1.2 CONTRIBUTION OF THIS DISSERTATION 3 1.3 DISSERTATION OVERVIEW 6 2
SEMI-AUTONOMOUS COLLISION-FREE MOTION PLANNING PROBLEM 9 2.1 KINEMATIC
MODELING 10 2.1.1 FUNDAMENTAL VEHICLE MODEL 10 2.1.2
VELOCITY-INDEPENDENT DESCRIPTION OF VEHICLE KINEMATICS 14 2.1.3
ADMISSIBLE ARC-LENGTH BASED TRAJECTORIES 17 2.2 GEOMETRIC MODELING 20
2.3 PROBLEM STATEMENT 26 2.4 SOLVABILITY OF THE SEMI-AUTONOMOUS MOTION
PLANNING PROBLEM 28 2.5 AVAILABLE SOLUTION APPROACHES 37 2.5.1
APPLICATION-ORIENTED APPROACHES FOR AUTOMATIC PARKING 38 2.5.2 GENERAL
NON-HOLONOMIC MOTION PLANNING APPROACHES 39 2.5.3 ALGORITHMS BASED ON
THE TWO-STEP PRINCIPLE 41 3 TWO-STEP COLLISION-FREE TRAJECTORY PLANNING
45 3.1 OVERVIEW OF THE TWO-STEP SOLUTION APPROACH 46 3.1.1 MOTIVATION
AND PRINCIPLE 46 3.1.2 INCORPORATION OF QUALITATIVE REQUIREMENTS 51
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/997919361 DIGITALISIERT
DURCH 5 SUMMARY AND CONCLUSIONS 243 XRV 3.2 STEP 1: DISTANCE OPTIMIZED
VEHICLE PATH PLANNER 54 3.2.1 DISTANCE MEASURE: SFP-METRIC 55 3.2.2
SHORTEST ADMISSIBLE TRAJECTORY SEQUENCES ACCORDING TO REEDS AND SHEPP 60
3.2.3 APPROXIMATION OF THE OBSTACLE DISTRIBUTION 69 3.2.4 SYMMETRY
PROPERTIES OF BASIC OBSTACLE ELEMENTS 74 3.2.5 CALCULATION OF OBSTACLE
DISTANCE LOOK-UP TABLES 82 3.2.6 COLLISION DETECTION AND SAFETY DISTANCE
88 3.2.7 ALGORITHM FOR DISTANCE OPTIMIZED PATH PLANNING 99 3.3 STEP 2:
ONE-SIDED CONTINUOUS CURVATURE LOCAL TRAJECTORY PLANNER . . . . 110
3.3.1 OVERVIEW AND WORKING PRINCIPLE 113 3.3.2 ELEMENTARY ARC-LENGTH
BASED VEHICLE TRAJECTORY SEGMENTS . . . . 119 3.3.3 COMPOSITE BASE
ELEMENT: OSCC TURN 134 3.3.4 TRAJECTORY FAMILIES AND THEIR CONSTRUCTION
143 3.3.5 TRAJECTORY AND VELOCITY SELECTION 162 3.3.6 CONCATENATING OSCC
TRAJECTORIES 174 3.4 OVERALL TRAJECTORY PLANNING ALGORITHM 176 3.5
SIMULATION RESULTS 186 4 EXPERIMENTAL VERIFICATION 209 4.1 EXPERIMENTAL
SETUP AND FUNCTIONALITY OVERVIEW 210 4.2 REALIZATION OF THE AUTOMATIC
VEHICLE GUIDANCE 214 4.2.1 LATERAL VEHICLE GUIDANCE 214 4.2.2
LONGITUDINAL VEHICLE GUIDANCE 217 4.3 EXPERIMENTAL RESULTS 220
REFERENCES 297 XV APPENDIX 245 A PROOFS 245 A.1 PROOF TO LEMMA 1 245 A.2
PROOF TO LEMMA 6 247 A.3 PROOF TO LEMMA 7 248 A.4 PROOF TO LEMMA 8 249
A.5 PROOF TO LEMMA 10 250 A.6 PROOF TO LEMMA 11 250 A.7 PROOF TO LEMMA
12 253 A.8 PROOF TO LEMMA 13 254 A.9 PROOF TO THEOREM 2 255 A. 10 PROOF
TO THEOREM 4 257 A.11 PROOF TO LEMMA 15 261 A.12 PROOF TO THEOREM 5 262
A.13 PROOF TO LEMMA 16 265 A.14 PROOF TO THEOREM 7 270 A.15 PROOF TO
THEOREM 8 275 A.16 PROOF TO LEMMA 17 276 A.17 PROOF TO THEOREM 11 277 *
THE EUCLIDEAN MODULO OPERATOR 281 C BASIC TRIGONOMETRIC IDENTITIES 285 D
THE FRESNEL INTEGRAL FUNCTIONS 287 E FEASIBILITY CONDITIONS OF OSCC
TRAJECTORY FAMILIES 289 F TECHNICAL DATA OF A VW GOLF VI 291 G LIST OF
RELEVANT PUBLICATIONS AND TECHNICAL REPORTS 295
|
| any_adam_object | 1 |
| author | Müller, Bernhard 1977- |
| author_GND | (DE-588)139769803 |
| author_facet | Müller, Bernhard 1977- |
| author_role | aut |
| author_sort | Müller, Bernhard 1977- |
| author_variant | b m bm |
| building | Verbundindex |
| bvnumber | BV035826200 |
| classification_rvk | ZO 4250 |
| ctrlnum | (OCoLC)530322185 (DE-599)DNB997919361 |
| dewey-full | 629.276 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.276 |
| dewey-search | 629.276 |
| dewey-sort | 3629.276 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Verkehr / Transport |
| format | Thesis Book |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV035826200 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T22:05:30Z |
| institution | BVB |
| isbn | 9783832285708 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-018684843 |
| oclc_num | 530322185 |
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| physical | XVI, 310 S. Ill., graph. Darst. 210 mm x 148 mm |
| publishDate | 2009 |
| publishDateSearch | 2009 |
| publishDateSort | 2009 |
| publisher | Shaker |
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| series2 | Berichte aus der Steuerungs- und Regelungstechnik |
| spelling | Müller, Bernhard 1977- Verfasser (DE-588)139769803 aut Two-step trajectory planning for automatic parking Bernhard Müller Aachen Shaker 2009 XVI, 310 S. Ill., graph. Darst. 210 mm x 148 mm txt rdacontent n rdamedia nc rdacarrier Berichte aus der Steuerungs- und Regelungstechnik Zugl.: Erlangen-Nürnberg, Univ., Diss., 2009 Kraftfahrzeug (DE-588)4073757-3 gnd rswk-swf Fahrerassistenzsystem (DE-588)4622983-8 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Parken (DE-588)4044677-3 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Kraftfahrzeug (DE-588)4073757-3 s Parken (DE-588)4044677-3 s Kollisionsschutz (DE-588)4199255-6 s Bahnplanung (DE-588)4267628-9 s Fahrerassistenzsystem (DE-588)4622983-8 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018684843&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Müller, Bernhard 1977- Two-step trajectory planning for automatic parking Kraftfahrzeug (DE-588)4073757-3 gnd Fahrerassistenzsystem (DE-588)4622983-8 gnd Bahnplanung (DE-588)4267628-9 gnd Parken (DE-588)4044677-3 gnd Kollisionsschutz (DE-588)4199255-6 gnd |
| subject_GND | (DE-588)4073757-3 (DE-588)4622983-8 (DE-588)4267628-9 (DE-588)4044677-3 (DE-588)4199255-6 (DE-588)4113937-9 |
| title | Two-step trajectory planning for automatic parking |
| title_auth | Two-step trajectory planning for automatic parking |
| title_exact_search | Two-step trajectory planning for automatic parking |
| title_full | Two-step trajectory planning for automatic parking Bernhard Müller |
| title_fullStr | Two-step trajectory planning for automatic parking Bernhard Müller |
| title_full_unstemmed | Two-step trajectory planning for automatic parking Bernhard Müller |
| title_short | Two-step trajectory planning for automatic parking |
| title_sort | two step trajectory planning for automatic parking |
| topic | Kraftfahrzeug (DE-588)4073757-3 gnd Fahrerassistenzsystem (DE-588)4622983-8 gnd Bahnplanung (DE-588)4267628-9 gnd Parken (DE-588)4044677-3 gnd Kollisionsschutz (DE-588)4199255-6 gnd |
| topic_facet | Kraftfahrzeug Fahrerassistenzsystem Bahnplanung Parken Kollisionsschutz Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018684843&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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