Abstract
Autonomous parking valet systems improve users’ comfort, helping with the task of searching for a parking space and parking maneuvering; and due to the simple infrastructure design and low speeds, this maneuver is quite feasible for automated vehicles. Various demonstrations have been performed in both closed parking and in open air parking; scenarios that allow the use of specific technological tools for navigation and searching for a parking space. However, there are still challenges. The purpose of this paper was the integration of perception, positioning, decision-making, and maneuvering algorithms for the control of an autonomous vehicle in a parking lot with the support of a single LiDAR sensor, and with no additional sensors in the infrastructure. Based on a digital map, which was as simplified as possible, the driver can choose the range of parking spaces in which the vehicle must look for a space. From that moment on, the vehicle moves, looking for free places until an available one in the range selected by the driver is found. Then, the vehicle performs the parking maneuver, choosing between two alternatives to optimize the required space. Tests in a real parking lot, with spaces covered with metallic canopies, showed an accurate behavior.
Highlights
Vehicle parking is an important problem that has environmental repercussions, causes congestion and time loss for users, and that increases in cases such as urban areas
Other authors have shown that autonomous vehicle ordering would increase the parking lot capacity by taking advantage of the possibility of blocking one vehicle with another [6], but this solution would have practical limitations, mainly due to user unexpected schedule changes, which would involve frequent and complex vehicle movements. Related to this idea, automated valet parking systems (AVPS) are being planned that do not have the participation of human drivers
The proposed system is quite simple for the user, who must only drive to the entrance of the parking lot and select a range of parking places
Summary
Vehicle parking is an important problem that has environmental repercussions, causes congestion and time loss for users (and loss of comfort), and that increases in cases such as urban areas. Other authors have shown that autonomous vehicle ordering would increase the parking lot capacity by taking advantage of the possibility of blocking one vehicle with another [6], but this solution would have practical limitations, mainly due to user unexpected schedule changes, which would involve frequent and complex vehicle movements Related to this idea, automated valet parking systems (AVPS) are being planned that do not have the participation of human drivers. This paper deals with the adaptation and configuration of perception, positioning, decision-making, and maneuvering algorithms for a complicated scenario, to optimize performance and improve a real implementation of AVPS This final system was applied to a parking lot with spaces covered with metallic canopies. It is possible to use prior information from a digital map of the parking lot, but this information must be as reduced as much as possible to foster a widespread implementation, unlike other solutions that require highly detailed maps
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