Automatic Parking Research Articles

Research on Path Planning of Automatic Parking System

A non-parallel initial state path planning algorithm for the automatic parking system is presented in this paper. Automatic parking system is a hot research point in intelligent vehicle application fields, and the trajectory generation is one of its key technologies. In the actual process of parking, the initial state of vehicle is always non-parallel to the parking place, so this situation should be researched to serve automatic parking system better. According to the analysis of vehicle kinematics model and the parking process, the trajectory can be considered as the combination of some sections of tangent arc. In this article, the trajectory is composed of several period of circular arc and it is improved by combining with the actual circumstance, then a strong adaptable parking trajectory for the automatic parking system is designed. The simulation analysis is done to verify the geometry trajectory, and the method is used on our intelligent vehicle to check out the feasibility. Compared with traditional trajectory generation method, experimental results show the adaptability and success rates of the method designed in this paper is much more better, which the parking success rates is about 90%.

A novel approach for evaluating the performance of eco-industrial park pilot projects

Abstract This paper presents a novel approach using discounted cash flow (DCF) and multi-attribute global inference of quality (MAGIQ) methods to evaluate the economic, environmental, and social performances of eco-industrial park (EIP) pilot projects. As a test case, we evaluated South Korean EIP pilot projects that primarily focus on the development of industrial symbiosis networks in existing industrial complexes. The results demonstrated that networks with high initial investment or higher value-added products tend to have high economic performance. Additionally, several projects involving energy networks have resulted in high positive environmental performance through greenhouse gas emissions mitigation. Waste acid/alkali solution recycling projects also showed remarkable social outcomes on account of the variety of networks formed and active participation from enterprises. The present approach incorporating the DCF and MAGIQ methods provides a simple and promising decision-making tool for quantitative performance evaluation of EIP pilot projects. Furthermore, valuable lessons from the evaluation considering economic, environmental, and social performances will provide the basis for future EIP establishment.

Geometric Path Planning for Automatic Parallel Parking in Tiny Spots

This paper deals with path planning for car-like vehicle in parallel parking problems. Our path planning method uses simple geometry of the vehicle kinematic model. The presented strategy consists in retrieving the vehicle from the parking spot and reversing the obtained path to park the vehicle. Two methods for parking in tiny spaces, where parking in one trial is not possible, are proposed. In these cases, the number of needed trials to park the vehicle can be calculated from a simple formula or from an iterative algorithm. The proposed planning methods are independent of the initial position and the orientation of the vehicle. Reference trajectories are generated so that the vehicle can park by following them. Simulations are provided for both methods.

Prioritized WAVE-based Parking Assistance with Security and User Anonymity

We present a secure, privacy-preserving car parking assistance application using priority-based vehicular communications. The proposed technique utilizes two modified Elliptic Curve algorithms for vehicular message authentication between parking vehicles and corresponding infrastructure. We address the major challenges associated with VANET security and user privacy. The standard Wireless Access in Vehicular Environment (WAVE) protocol suite has been used to construct our signature mechanism, application data secrecy, and message integrity. Security analysis proves the resilience of the scheme against all known attacks. We also investigate network performances in order to justify the effectiveness of the scheme for practical use.

A Comparative Study of Different Smart Parking Assist Systems Using Wireless Sensor Networks

To deal with the parking guidance issue of the parking lots, this paper proposes a vision of improvements in parking guidance and information system based on wireless sensor system. This system consists of parking space monitoring nodes, routing nodes, parking guidance display and Central control center. The nodes transmit the information through wireless sensor network . After analyzing and processing the data, the central control center would distribute the parking information by LED screen and displays for the drivers.

차량 시스템의 소음 기여도분석 및 공진 규명을 통한 전자식 주차 브레이크 소음원 규명

Caliper intergrated Electric Parking Brake (EPB) is an automatic parking brake system, attached to rear caliper. Because EPB uses luxury vehicles recently, the drivers of vehicles are sensitive to the EPB noise. EPB is operated by the motor and gear, so noise is generated by motor and gear. In order to reduce noise, One of EPB manufacturers uses helical gear and changes the shape of EPB housing. But these methods are not optimized for reduction of interior noise. There are many noise transfer paths into vehicle interior and it is difficult to identify the noise sources. Therefore, in this study, we performed contribution analysis and modal testing in the vehicle system. It is possible to distinguish between air-borne noise and structure-borne noise in the vehicle interior noise by comparing interior noise peak with resonance mode map.

Automatic Parking Control for Vehicles with Stereo Vision

Automatic Parking Control for Vehicles with Stereo Vision

Smart Parking System with Image Processing Facility

Smart Parking Systems obtain information about available parking spaces, process it and then place the car at a certain position. A prototype of the parking assistance system based on the proposed architecture was constructed here. The adopted hardware, software, and implementation solutions in this prototype construction are described in this paper. The effective circular design is introduced here having rack-pinion special mechanism which is used to lift and place the car in the certain position. The design of rack pinion mechanism is also simulated using AUTODESK INVENTOR and COMSOL software.

Implementation of a Semi-Active Parking Assistance System

This paper presents a novel approach to solve semi-active non-holonomic vehicle-parking assistant problem. This system can be automatically drive a vehicle and can be used during day or and night. A robust algorithm for this system is developed and embedded controller hardware is designed and programmed to parallel parking maneuver. In this approach, infrared distance sensor is mounted on the car to find parking space, localize the vehicle position and avoid obstacles. Experimental and simulation results show good performance in the algorithm for parking system under parallel parking. Parking maneuver is safer and efficient through using these advanced safety techniques for parking. Simulation results obtained with the presented system are applied for semi-active parking assistance system.

Automatic Parking Management System and Parking Fee Collection Based on Number Plate Recognition

This paper discussed on automatic parking system and electronic parking fee collection based on vehicle number plate recognition. The aim of this research is to develop and implement an automatic parking system that will increase convenience and security of the public parking lot as well as collecting parking fee without hassles of using magnetic card. The auto parking system will able to have less interaction of humans and use no magnetic card and its devices. In additions to that, it has parking guidance system that can show and guide user towards a parking space. The system used image processing of recognizing number plates for operation of parking and billing system. Overall, the systems run with pre-programmed controller to make minimum human involvement in parking system and ensure access control in restricted places. This paper presents algorithm technology based method for license plate extraction from car images followed by the segmentation of characters and reorganization and also develop electronics parking fee collection system based on number plate information.

Driving Support for City Vehicles

Moving inside a congested traffic is a very stressful scenario for the driver. The paper will address the possible support the vehicle could offer to the driver in such a scenario. These advanced city vehicles introduces driver assistance solutions such as ISA (Intelligent Speed Adaptation), lateral control, automatic stop&go, parking assistance, collision avoidance, etc. Thanks to a link with the infrastructure these vehicles could contribute to a more rational use of urban road network with less congestion and pollution, safer driving, a higher quality of living and an enhanced integration with spatial developmentThe paper will describe such vehicles, starting from what is already available in the market and what has been developed inside innovative European research Projects like FIDEUS, for freight delivery, and CityMobil, for passenger transport.

1P1-D08 自動駐車用経路計画における局所解回避のためのサブゴール生成(【交通・物流部門】カー・ロボティクス)

1P1-D08 自動駐車用経路計画における局所解回避のためのサブゴール生成(【交通・物流部門】カー・ロボティクス)

Control of Automobile's Automatic Parking

An automatic parking controller is proposed. Fuzzy control is taken to simulate the action of experienced driver as an alternative to conventional methods. The angle between the midline of the car and ideal path and the distance between the midpoint of the car and the ideal path are taken as the inputs of the fuzzy controller. The angle of the steering wheel is taken as the output of the fuzzy controller. A set of fuzzy logic rules are build for reasoning. With sensors installed in the car to replace people’s eyes and computer to replace people’s brain, the automatic parking system is more precise and quicker than human’s parking. At last, simulation is made and proved the validity of the proposed method.

Semi-autonomous advanced parking assistants: do they really have to be learned if steering is automated?

Several studies have demonstrated positive effects of advanced parking assistants (APA) on driver comfort and parking performance. However, learning effects while handling the APA system and possible transfer effects on manual parking have not yet been discussed. In this study, N=18 subjects parked parallel in a test area (26 manoeuvres) and in real traffic (nine manoeuvres). One half of the manoeuvres was done without a parking assistant, one half with a semi-autonomous APA system that utilises automatic steering. The APA system did not control speed by accelerating or braking. Parking performance and glance behaviour in selected manoeuvres were analysed as well as drivers' judgements and observations by an in-vehicle experimenter. Consistent with earlier studies, the APA system facilitates parking. Learning effects particularly appear in glance behaviour and maximum velocity during the first parking motion as also do the number of errors while handling the system. Using the APA system repeatedly might influence parking without an assistant as well: the more manoeuvres are carried out with the APA system, the more often the drivers look into the display during manual parking. The implications of this study are discussed.

Easy Path Planning and Robust Control for Automatic Parallel Parking

AbstractThis paper deals with path planning and the associated control for a car-like vehicle in parallel parking problem. Our path planning method is purely based on a geometric approach such as minimal turning radii, which can be determined by the geometry of a vehicle and its maximum steering angle. The main strategy for parallel parking comes from retrieving a vehicle from the parking slot. This procedure is reversible and applicable for the parallel parking maneuvering. The theoretical minimum length of parallel parking slot for parking in one trial is given. The proposed planning method is independent of the initial position of the vehicle if the vehicle position is in parallel to the parking space. For the control aspect, a model-free approach is proposed to compensate for neglected dynamics at chassis level due for example to road slopes. Convincing simulation results are presented.

Evaluation of Acceptability and Usability of a Parking Assistance System for Elderly Drivers - Relationship Between Experiment Results, Gender, Driving Frequency and Driving Styles -

The safe, comfortable mobility of elderly drivers may be compromised by physical and mental aging problems. We have focused on parking assistance. Most parking assistance systems are on-board - and expensive, which means that those really needing assistance, such as elderly drivers, cannot afford them. We propose “guidance” and “education” parking systems and evaluated them in experiments with 18 elderly drivers to find relationships between system types and driving styles. Among other things, our results indicate that assistance systems are less effective with daily drivers than with those who drive less often daily.

Special Issue on Cybernetic City Transport Systems and Technologies

The publication of this issue was driven by the vision that, in the not too distant future, Cybernetic Transport Systems (CTS) will be seen on city roads and dedicated infrastructures. TheWorld Council for Sustainability has projected that CTS will be seen in cities in as early as 2030 (Mobility 2030: Meeting the Challenges to Sustainability; World Business Council for Sustainable Mobility, July 2004). CTS are based on fully automated driverless urban road vehicles (CyberCars). They can also be based on Dual-Mode Vehicles (DMV) - conventional vehicles with Advanced Driver Assistance Technology (ADAT) and capable of driverless driving, on request by a driver. ADAT covers electronic and software products that assist drivers in driving. DMV assumes that a driver is not in control of the vehicle at all times but is fully responsible for vehicle operation throughout. Both CyberCars and DMVs co-operate through vehicle-to-vehicle and vehicle-to-infrastructure communication links thus enabling cybernetic transport to achieve higher traffic flows and improve network efficiency. Main CTS building blocks are CyberCars and/or Dual Mode Vehicles, Road Infrastructure Elements and CTS Traffic Management & Control Centre. These four blocks are interconnected, integrated and made interoperable through Communication Architecture and Protocols, and Operational Safety & Reliability Certification Procedures. A variety of CTS concepts have been prototyped and evaluated within the scope of projects such as: (i) Toyota’s Intelligent Multimode Transportation System (http://www.expo2005.or.jp/en/technology/imts.html); (ii) the CyberCars (http://www.cybercars.org); CyberMove (http://www.cybermove.org); (iii) CityMobil (http://www.citymobil-project.eu/); (iv) Safespot (http://www.safespot-eu.org/); (v) CVIS (http://www.cvisproject.org); (vi) Group Rapid Transit (http://www.2getthere.eu/Group Transit). The figure above shows a CTS prototyped by the CyberCars-2 Project Consortium. An extensive infield, i.e., on-road testing of operational performance of co-operative cybernetic transport solutions was conducted at several road tracks, the last being held at La Rochelle, France, in September 2008. This issue addresses a broad spectrum of theoretical and implementational topics related to CTS development and deployment including: • Cooperative Cybernetic Transport System Architecture • Real-time Decision Making by driverless vehicles • On-road testing of operational performance of CTS • Road-Crossing Landmarks Detection algorithm • Landmark Shape Detection algorithm • Road Shape Estimation algorithm, and • Vehicle-to-road infrastructure (traffic lights) communication solutions. In addition, this issue presents papers that deal with ADAT and analyses: • Acceptability and Usability of a Parking Assistance System for Elderly Drivers • Relationships between Car Accidents and a Driver’s Physiology and Psychology • 2D Localization in Urban Environment, and • Sustainability and Reusability aspects of Common Robotic Technology components. We hope you enjoy the issue!

Isrss: Integrated side/rear safety system

As driver assistant systems (DAS) and active safety vehicles (ASV) with various functions become popular, it is not uncommon for multiple systems to be installed on a vehicle. If each function uses its own sensors and processing unit, it will make installation difficult and raise the cost of the vehicle. As a countermeasure, research integrating multiple functions into a single system has been pursued and is expected to make installation easier, decrease power consumption, and reduce vehicle pricing. This paper proposes a novel side/rear safety system using only one scanning laser radar, which is installed in the rear corner of the driver’s side. Our proposed system, ISRSS (integrated side/rear safety system), integrates and implements four system functions: BSD (blind spot detection), RCWS (rear collision warning system), semi-automatic perpendicular parking, and semi-automatic parallel parking. BSD and RCWS, which operate while the vehicle is running, share a common signal processing result. The target position designation for perpendicular parking and parallel parking situations is based on the same signal processing. Furthermore, as system functions during running and those during automatic parking operate in exclusive situations, they can share common sensors and processing units efficiently. BSD and RCWS system functions were proved with 13025 and 2319 frames, respectively. The target position designation for perpendicular and parallel parking situations was evaluated with 112 and 52 situations and shows a success rate of 98.2% and 92.3%, respectively.

Uniform User Interface for Semiautomatic Parking Slot Marking Recognition

Automatic parking systems consist of three core technologies: (1) target position designation; (2) path planning; and (3) path tracking. Target position-designation methods can be divided into four categories: (1) user-interface based; (2) parking slot marking based; (3) free-space based; and (4) infrastructure based. Considering the fact that parking-assist systems are expected to be used mainly in urban situations, recognition of parking slot markings could be the most economical and efficient solution for target position designation. This paper proposes a semiautomatic parking slot marking-based target position-designation method. The user can initiate parking slot marking recognition by placing a finger on each side of the entrance of the target parking slot. With such a user interface, these systems can reduce the search range to so small an area that computational loads and false-recognition rates are significantly reduced. Furthermore, by identifying the junction patterns of parking slot markings around the designated point with a neural network-based classifier, the user can establish the target position with a uniform user interface. The proposed system showed a 91.10% recognition rate in 191 test cases consisting of five different types of parking slot markings.

3D-environment modeling as an enabler for autonomous vehicles

The ability of generating and interpreting a three-dimensional model of the real world is a key technology for autonomous vehicle movements. This article discusses a powerful approach invented in the BMW Group which provides dense and accurate point clouds of a vehicles environment generated with a motion stereo algorithm. The potential of the approach will be showcased using a parking assistance system.