Perpendicular Parking Research Articles

Experimental Test of Artificial Potential Field-Based Automobiles Automated Perpendicular Parking

Automobiles automated perpendicular parking using Artificial Potential Field (APF) is discussed in this paper. The Unmanned Ground Vehicle (UGV) used for carrying out experiments is introduced first; UGV configuration, kinematics, and motion controller are included. Based on discretized form of the parking space, the APF is generated. Holonomic path for the vehicle parking is found first; path modification to satisfy minimum turning-radius constraint is performed based on Reeds-Shepp curve connections. Optimization efforts are included to remove extra maneuvers and to reduce length of the path. Afterwards waypoints are generated as reference for the vehicle to track. Perpendicular parking tests with several different start configurations are demonstrated; based on the test results the automated parking framework proposed in this paper is considered to be effective.

Parking and manoeuvring among older drivers: A survey investigating special needs and difficulties

A postal survey was conducted among 698 older French drivers in order to identify their special needs and difficulties encountered during parking. Their most frequent manoeuvres were back parallel and front perpendicular parking. A questionnaire, inspired by the Driver Behaviour Questionnaire, was developed to identify the psychological origins of parking errors and to examine its relative predictive value with respect to self-reported parking difficulties. Four types of aberrant parking behaviour were identified: slips or lapses, execution errors, anticipation errors and violations. Accident and/or incident history and reported aberrant parking behaviours are the strongest predictors of difficulties encountered during parking manoeuvres.

Parking Assistance System for Leaving Perpendicular Parking Lots: Experiments in Daytime\/Nighttime Conditions

Backing-out and heading-out maneuvers in perpendicular or angle parking lots are one of the most dangerous maneuvers, especially in cases where side parked cars block the driver view of the potential traffic flow. In this paper, a new vision-based Advanced Driver Assistance System (ADAS) is proposed to automatically warn the driver in such scenarios. A monocular grayscale camera was installed at the back-right side of a vehicle. A Finite State Machine (FSM) defined according to three CAN Bus variables and a manual signal provided by the user is used to handle the activation/deactivation of the detection module. The proposed oncoming traffic detection module computes spatio-temporal images from a set of predefined scan-lines which are related to the position of the road. A novel spatio-temporal motion descriptor is proposed (STHOL) accounting for the number of lines, their orientation and length of the spatio-temporal images. Some parameters of the proposed descriptor are adapted for nighttime conditions. A Bayesian framework is then used to trigger the warning signal using multivariate normal density functions. Experiments are conducted on image data captured from a vehicle parked at different location of an urban environment, including both daytime and nighttime lighting conditions. We demonstrate that the proposed approach provides robust results maintaining processing rates close to real time.

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.

Scanning Laser Radar-Based Target Position Designation for Parking Aid System

Recently, customers have shown a growing interest in parking aid products. A parking aid system consists of target position designation, path planning, and parking guidance by user interface or path tracking by active steering. For target position designation, various sensors and signal processing technologies have been tried. In the case of parallel parking, an ultrasonic sensor-based method plays a dominant role. In the case of perpendicular parking, a graphical user interface (GUI)-based method and a parking slot marking-based method have been commercialized. However, methods developed for the recognition of free parking space between vehicles have their respective drawbacks. This paper proposes a method for the recognition of free parking space between vehicles using scanning laser radar. This proposed method consists of range data preprocessing, corner detection, and target parking position designation. The authors developed a novel corner-detection method consisting of rectangular corner detection and round corner detection. The newly developed corner detection is unaffected by cluster orientation and the range data interval and is robust to noise. Experimental results showed that even in situations where other methods failed, the proposed scanning laser radar-based method could designate target parking position to viable free parking space. The recognition rate was 98.21%, and the average processing time was about 600 ms. Finally, it is argued that the proposed method will eventually be a practical solution because of the decreasing price of scanning laser radar and multiple-function integration strategies.