Abstract: A system for controlling a motion of a trailer-based vehicle from an initial state till a target state, wherein each state includes a location and a heading of the trailer-based vehicle. The trailer-based vehicle includes a tractor and at least one trailer attached to the tractor such that the motion of the tractor controls the motion of the trailer. The system is configured to collect a set of motion primitives parameterized on quantized pseudo-trailer-configuration from a finite set of quantized pseudo-trailer-configurations, and repetitively select a node based on corresponding cost, and apply motion primitives at the selected node based on corresponding pseudo-trailer-configuration to add new nodes having pseudo-trailer-configurations belonging to set of all possible values. The system is configured to connect a sequence of multiple motion primitives into motion path connecting initial state with target state and control the motion of the tractor-trailer according to the motion path.

Abstract: The present disclosure provides a system and a method for parking an autonomous ego-vehicle in a dynamic environment of a parking area. The method includes collecting measurements of a state of the dynamic environment, a state of one or multiple stationary vehicles and one or multiple obstacle vehicles moving in the parking area. The method further includes executing a path planner configured to produce a trajectory based on the state of the dynamic environment and executing an environment predictor configured to predict a path and a mode of motion for each of the obstacle vehicles. The method further includes determining a safety constraint for each of the obstacle vehicles based on the path and the mode of motion for each of the obstacle vehicles and parking the autonomous ego-vehicle based on the trajectory for parking and the safety constraint for each of the obstacle vehicles.