Autonomous multi-story navigation for valet parking

Klemm, Sebastian; Marc, Essinger; Oberländer, Jan; Zofka, Marc René; Klunker, Florian; Weber, Michael; Kohlhaas, Ralf; Kohs, Alexander; Roennau, Arne; Schamm, Thomas; Zöllner, J. Marius

doi:10.1109/itsc.2016.7795698

Cited by 27 publications

(8 citation statements)

References 18 publications

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“…With the increase of the number of vehicles, more traffic congestion and parking problems may arise in near future 7 [133]. With the help of AVP, the user can leave AV at a certain point, after which the AV moves towards parking slots in full autonomous mode [134]. AVP is designed to minimize congestion and to deliver the convenient and economical parking systems.…”

Section: Autonomous Valet Parkingmentioning

confidence: 99%

From smart parking towards autonomous valet parking: A survey, challenges and future Works

Khalid

Wang

Aslam

et al. 2021

Journal of Network and Computer Applications

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Section: Autonomous Valet Parkingmentioning

confidence: 99%

From smart parking towards autonomous valet parking: A survey, challenges and future Works

Khalid

Wang

Aslam

et al. 2021

Journal of Network and Computer Applications

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“…In order to determine CS f ree , the set of all the configurations in CS that are collision-free, we compute its limits corresponding to the case where the robot is in contact with one of the adjacent lanes. This leads to Equations (1)(2)(3)(4) where f r, f l, rr and rl correspond respectively to the cases where the front-right, front-left, rear-right and rear-left corner of the robot touches one of the lane limits:…”

Section: A Formulating the Problem In The Configuration Spacementioning

confidence: 99%

“…This increases the parking facility's capacity. Car makers pay much attention to automatic parking system and this driving technology has become one of the research hotspots [2], [3].…”

Section: Introductionmentioning

confidence: 99%

Strategy for automated dense parking: how to navigate in narrow lanes

Polack¹,

Dallen²,

Cord³

2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents the architecture of a highdensity parking solution based on car-like robots specifically designed to move cars. The main difficulty is to park the vehicles close to one another which implies hard constraints on the robot motion and localization. In particular, this paper focuses on navigation in narrow lanes. We propose a Lyapunovbased control strategy that has been derived after expressing the problem in a Configuration Space formulation. The current solution has been implemented and tested on Stanley Robotics' robots and has been running in production for several months. Thanks to the Configuration Space formulation, we are able to guarantee the obstacles' integrity. Moreover, a method for calibrating the GPS orientation with a high-precision is derived from the present control strategy.

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“…Related works on AVP have covered the field of parking space optimization based on k-stacks [3], [4], and the security of user information [5]. Another important problem is the localization and mapping task in GPS-denied parking environments [6], and the motion planning problem. The survey in [7] presents an overview of motion planning for AVP systems considering global and local planning tasks, whereby important contributions are provided by the V-CHARGE research project [8].…”

Section: Introductionmentioning

confidence: 99%

A Multi-Vehicle Control Framework With Application to Automated Valet Parking

Kneissl

Madhusudhanan

Molin

et al. 2021

IEEE Trans. Intell. Transport. Syst.

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We introduce a distributed control method for coordinating multiple vehicles in the framework of an automated valet parking (AVP) system. The control functionality is distributed between an infrastructure server, called parking area management (PAM) system, and local autonomous vehicle control units. Via a vehicle-to-infrastructure (V2I) communication interface, model predictive control (MPC) decisions of the vehicles are shared with the coordination unit in the PAM. This unit in turn computes a coupling feedback which is shared with the vehicles. The control system is integrated in an automated test-system to cope with the high test requirements and short development cycles of highly automated systems. Evaluations conducted with the test-system show the functionality of the proposed distributed control method for multi-vehicle coordination. Results indicate safe coordination, and an efficiency increase compared to an uncoordinated method in an AVP simulation environment.

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Autonomous multi-story navigation for valet parking

Cited by 27 publications

References 18 publications

From smart parking towards autonomous valet parking: A survey, challenges and future Works

From smart parking towards autonomous valet parking: A survey, challenges and future Works

Strategy for automated dense parking: how to navigate in narrow lanes

A Multi-Vehicle Control Framework With Application to Automated Valet Parking

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