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Paper Abstract and Keywords
Presentation 2026-02-20 11:00
A Path Planning Method Considering Backtrack Cost in Automated Valet Parking
Naoto Komatsu, Shunya Yamada, Yousuke Watanabe (Nagoya Univ.), Kenya Sato (Doshisha Univ.), Hiroaki Takada (Nagoya Univ.) ITS2025-67 IE2025-82
Abstract (in Japanese) (See Japanese page) 
(in English) Automated valet parking is one of the promising applications of autonomous driving.
Search-based algorithms such as A* are commonly used to generate paths to parking spaces.
However, parking lot environments contain many sources of uncertainty, including pedestrians and other vehicles
and in some cases, the vehicle may encounter an impassable area along its planned route.
In such situations, the vehicle must backtrack to a previous branching point, which significantly degrades driving efficiency.
To address this problem, this study proposes a path planning method that estimates the probability that
a target cell is impassable based on the occupancy probabilities assigned to surrounding cells and vehicle dimensions.
Furthermore, the proposed method estimates in advance the cost associated with backtracking when traversal fails.
This enables path generation that explicitly accounts for potential backtracking risks.
Keyword (in Japanese) (See Japanese page) 
(in English) Automated valet parking / Path planning / Occupancy probability / Risk-aware planning / / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 355, ITS2025-67, pp. 159-164, Feb. 2026.
Paper # ITS2025-67 
Date of Issue 2026-02-12 (ITS, IE) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF ITS2025-67 IE2025-82

Conference Information
Committee IE ITS ITE-MMS ITE-ME ITE-AIT ITE-SIP  
Conference Date 2026-02-19 - 2026-02-20 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To ITS 
Conference Code 2026-02-IE-ITS-MMS-ME-AIT-SIP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) A Path Planning Method Considering Backtrack Cost in Automated Valet Parking 
Sub Title (in English)  
Keyword(1) Automated valet parking  
Keyword(2) Path planning  
Keyword(3) Occupancy probability  
Keyword(4) Risk-aware planning  
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1st Author's Name Naoto Komatsu  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Shunya Yamada  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Yousuke Watanabe  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
4th Author's Name Kenya Sato  
4th Author's Affiliation Doshisha University (Doshisha Univ.)
5th Author's Name Hiroaki Takada  
5th Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2026-02-20 11:00:00 
Presentation Time 15 minutes 
Registration for ITS 
Paper # ITS2025-67, IE2025-82 
Volume (vol) vol.125 
Number (no) no.355(ITS), no.356(IE) 
Page pp.159-164 
#Pages 6 
Date of Issue 2026-02-12 (ITS, IE) 

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