Laser-Based Control Law for Autonomous Parallel and Perpendicular Parking

Abstract

Abstract-This paper addresses the perpendicular and parallel parking problems of car-like vehicles for both forward and reverse maneuvers in one trial by extending the work presented in [1] using a multi sensor based controller with a weighted control scheme. The perception problem is discussed briefly considering a Velodyne VLP-16 and a SICK LMS151 as the sensors providing the required exteroceptive information. The results obtained from simulations and real experimentation for different parking scenarios show the validity and potential of the proposed approach. Furthermore, it is shown that, despite the need of handling several constraints for collision avoidance, the required computation time of the proposed approach is small enough to be used online.

Automatic Perpendicular and Diagonal Unparking Using a Multi-Sensor-Based Control Approach

“…VI. CONCLUSIONS Following our previous work [12], we've shown how, with some minor changes (simplifications) on the interaction model, it is possible to perform unparking tasks using the same control approach as for parking tasks. These new results increase the, already important, versatility and validity of our MSBC approach towards a fully autonomous parking system.…”

“…The controller presented in [12] used for parking tasks is now used as well for unparking. For the sake of clarity we recall its definition and main properties.…”

“…An interesting alternative is the use of a sensor-based control approach. It has been proven to be valid for navigation [9], dynamic obstacle avoidance [10] and for parking applications [11], [12] but has yet to be investigated for unparking tasks -where an acceptable final pose for the vehicle might not be as clearly defined when compared to parking tasks. Thus, it is worth to study the behavior and performance of unparking maneuvers using a sensor-based control approach.…”

Multi-Sensor-based Predictive Control for Autonomous Parking in Presence of Pedestrians

“…The contribution of this paper is the exploration of a MSBPC approach in order to have constraint-based parking maneuvers capable of dealing with moving pedestrians. By extending our previous work [13], now considering an additional auxiliary subtask and a predictive approach, the presented technique is capable of performing multiple maneuvers (if necessary) in order to park successfully in constrained workspaces. The auxiliary subtask is key since it allows to account for the potential motions that go essentially against the final goal (i.e drive the vehicle away from the parking spot) but that in the end allow to park successfully.…”

“…An interesting alternative is the use of a sensor-based control approach. It has been proven to be valid for navigation [10], dynamic obstacle avoidance [11] and for parking applications [12], [13]. It should be noted that an important limitation of a purely sensor-based control approach is the possibility of getting trapped in local minima i.e.…”