Multimodal Classification Network Guided Trajectory Planning for Four-Wheel Independent Steering Autonomous Parking Considering Obstacle Attributes

TL;DR

This paper introduces a multimodal trajectory planning framework for four-wheel independent steering vehicles, integrating scene perception, obstacle attribute handling, and risk-aware optimization for safe autonomous parking.

Contribution

It presents a novel neural network-based perception system combined with hierarchical obstacle handling and risk modeling, enhancing planning efficiency and safety in complex environments.

Findings

The framework achieves safe, efficient, and smooth trajectories in constrained environments.

Incorporating obstacle attributes improves planning accuracy and decision-making.

Risk-aware corridors effectively handle dynamic obstacle uncertainties.

Abstract

Four-wheel Independent Steering (4WIS) vehicles have attracted increasing attention for their superior maneuverability. Human drivers typically choose to cross or drive over the low-profile obstacles (e.g., plastic bags) to efficiently navigate through narrow spaces, while existing planners neglect obstacle attributes, leading to suboptimal efficiency or planning failures. To address this issue, we propose a novel multimodal trajectory planning framework that employs a neural network for scene perception, combines 4WIS hybrid A* search to generate a warm start, and utilizes an optimal control problem (OCP) for trajectory optimization. Specifically, a multimodal perception network fusing visual information and vehicle states is employed to capture semantic and contextual scene understanding, enabling the planner to adapt the strategy according to scene complexity (hard or easy task). For hard tasks, guided points are introduced to decompose complex tasks into local subtasks, improving the search efficiency. The multiple steering modes of 4WIS vehicles, Ackermann, diagonal, and zero-turn, are also incorporated as kinematically feasible motion primitives. Moreover, a hierarchical obstacle handling strategy, which categorizes obstacles as "non-traversable", "crossable", and "drive-over", is incorporated into the node expansion process, explicitly linking obstacle attributes to planning actions to enable efficient decisions. Furthermore, to address dynamic obstacles with motion uncertainty, we introduce a probabilistic risk field model, constructing risk-aware driving corridors that serve as linear collision constraints in OCP. Experimental results demonstrate the proposed framework's effectiveness in generating safe, efficient, and smooth trajectories for 4WIS vehicles, especially in constrained environments.