Autonomous parking using a sensor based approach

Abstract

This paper considers the perpendicular parking problem of car-like vehicles for both forward and reverse maneuvers. A sensor based controller with a weighted control scheme is proposed and is compared with a state of the art path planning approach. The perception problem is threated as well considering a Velodyne VLP-16 as the sensor providing the required exteroceptive information. A methodology to extract the necessary information for both approaches from the sensor data is presented. A fast prototyping environment has been used to develop the parking application, and also used as simulator in order to validate the approach. Preliminary results from simulation and real experimentation show the effectiveness of the proposed approach.

Laser-Based Control Law for Autonomous Parallel and Perpendicular Parking

“…It is represented by its bounding rectangle. Following our previous work [1], where a novel sensor based control technique based on the framework described in [13] was proposed, in this paper we explore a different sensor features set to park in one maneuver into perpendicular and parallel spots considering multiple sources for the sensor signals.…”

“…3) is extracted using the approach described in [1]. The sensor features required for the controller are extracted from this computed parking place.…”

“…IV-B (particularly (15)), a chattering problem appears if the controller presented in [1] is used, even with very small weights. For this reason, that controller is adapted to the quadratic programming form [16] with only inequality constraints:…”

“…An interesting alternative that does not rely on the localization is the use of a sensor based control approach. It has been proven to be valid for navigation [11], dynamic obstacles avoidance [12], and for parking applications [1].…”

“…The contribution of this paper is an extension of the approach described in [1], this time considering multiple sensors, a better suited sensor feature set that allows to park in one maneuver not only in perpendicular spots but also in parallel ones with either reverse or forward motions with only some minor changes, and improved constraints for collision avoidance.…”