Vehicle control system for automatic valet parking with infrastructure sensors

Sung, Kyungbok; Choi, Jungdan; Kwak, Dong-Yong

doi:10.1109/icce.2011.5722742

Cited by 11 publications

(11 citation statements)

References 5 publications

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“…The information from these sensors should permit to model the environment, to detect the parking spot, and to localize the vehicle as it is done in hands-free parking devices. An autonomous navigation can also be added in semi-controlled environments with infrastructure sensors [25].…”

Section: B Sensors and Perceptionmentioning

confidence: 99%

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Vorobieva

Glaser

Minoiu-Enache

et al. 2015

IEEE Trans. Intell. Transport. Syst.

113

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This paper presents automatic parallel parking for a passenger vehicle, with highlights on a path-planning method and on experimental results. The path-planning method consists of two parts. First, the kinematic model of the vehicle, with corresponding geometry, is used to create a path to park the vehicle in one or more maneuvers if the spot is very narrow. This path is constituted of circle arcs. Second, this path is transformed into a continuous-curvature path using clothoid curves. To execute the generated path, control inputs for steering angle and longitudinal velocity depending on the traveled distance are generated. Therefore, the traveled distance and the vehicle pose during a parking maneuver are estimated. Finally, the parking performance is tested on a prototype vehicle.

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Section: B Sensors and Perceptionmentioning

confidence: 99%

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Vorobieva

Glaser

Minoiu-Enache

et al. 2015

IEEE Trans. Intell. Transport. Syst.

113

View full text Add to dashboard Cite

show abstract

“…It makes the guiding route planning of the following vehicles difficult. On September 14, 2018, the automatic valet parking technology jointly developed by Daimler and Bosch was exhibited in Beijing [32]. In the underground parking lot of the Mercedes-Benz passenger car China R&D center, two Mercedes-Benz E63s were used for valet parking operation at the same time.…”

Section: Research Statusmentioning

confidence: 99%

Anti-Congestion Route Planning Scheme Based on Dijkstra Algorithm for Automatic Valet Parking System

Jiang

Hua

2019

Applied Sciences

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Featured Application: This anti-congestion route planning scheme will be used in the automatic valet parking area. It will have outstanding performance in the combination technology of V2X environment and driverless technology.Abstract: Based on the Dijkstra algorithm, with the parking parameters in the static state, the shortest route to each parking space of the parking lot without dynamic influence factors can be calculated. In the new technology background of the combination of the V2X environment and driverless technology, the dynamic influence factors, for example, the lanes occupancy situation caused by parking, can be considered to improve the shortest route with the new scheme in this paper. Then the final route that costs the least time to reach each parking space will be calculated. This is very important for the development of the intelligent transportation system in the parking lot environment.

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“…Wada et al [35], [36] presented a system that assigns a target position to a vehicle entering a parking lot and provides rough guidance to the parking space entrance and fine guidance to the target position. An et al [37] and Sung et al [38] suggested an automatic valet parking system that conducts fully automatic parking after drivers step down from vehicles at the entrance of a building by utilizing both infrastructure and in-vehicle sensors. An automatic valet parking system has been also researched as a European Union project entitled V-Charge [39].…”

Section: Infrastructure-based Approachmentioning

confidence: 99%

Sensor Fusion-Based Vacant Parking Slot Detection and Tracking

Suhr

Jung

2014

IEEE Trans. Intell. Transport. Syst.

147

102

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This paper proposes a vacant parking slot detection and tracking system that fuses the sensors of an Around View Monitor (AVM) system and an ultrasonic sensor-based automatic parking system. The proposed system consists of three stages: parking slot marking detection, parking slot occupancy classification, and parking slot marking tracking. The parking slot marking detection stage recognizes various types of parking slot markings using AVM image sequences. It detects parking slots in individual AVM images by exploiting a hierarchical tree structure of parking slot markings and combines sequential detection results. The parking slot occupancy classification stage identifies vacancies of detected parking slots using ultrasonic sensor data. Parking slot occupancy is probabilistically calculated by treating each parking slot region as a single cell of the occupancy grid. The parking slot marking tracking stage continuously estimates the position of the selected parking slot while the ego-vehicle is moving into it. During tracking, AVM images and motion sensor-based odometry are fused together in the chamfer score level to achieve robustness against inevitable occlusions caused by the ego-vehicle. In the experiments, it is shown that the proposed method can recognize the positions and occupancies of various types of parking slot markings and stably track them under practical situations in a real-time manner. The proposed system is expected to help drivers conveniently select one of the available parking slots and support the parking control system by continuously updating the designated target positions.

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Vehicle control system for automatic valet parking with infrastructure sensors

Cited by 11 publications

References 5 publications

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Automatic Parallel Parking in Tiny Spots: Path Planning and Control

Anti-Congestion Route Planning Scheme Based on Dijkstra Algorithm for Automatic Valet Parking System

Sensor Fusion-Based Vacant Parking Slot Detection and Tracking

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