High-performance Trajectory Optimization for Automated Parking via Half-space Constraining Theory
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
摘要： 轨迹规划是车载自动泊车系统中的重要功能，而现有的泊车轨迹规划算法无法兼顾算法泛化性、计算精度、求解时效性以及结果最优性。现采用基于数值优化的轨迹规划技术路线，首先将泊车轨迹规划任务表述为一则通用的最优控制问题；随后提出半空间约束理论，结合概略轨迹先验信息将原本具有高维度、强非凸非线性特点的名义避障约束简化为线性不等式约束，继而利用信任域约束进一步降低线性不等式约束的规模；最后调用非线性规划求解器对简化后的最优控制问题进行数值求解，可在极短时间内生成高精度数值最优泊车轨迹：将上述泊车轨迹规划方法命名为预设空间快速优化法。大量仿真试验表明，在同样使用混合A*搜索算法提供先验的概略轨迹的前提下，预设空间快速优化法的求解成功率、计算耗时以及结果最优性均优于OBCA(Optimization-based collision avoidance)、LIOM(Lightweight iteratwe optimization method)等主流泊车轨迹优化算法。
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it