Implementation of an Autonomous Parking System in a Parking Lot

摘要

An autonomous parking system (APS) is realized in this paper. In the proposed APS, the user can get out the vehicle at the entrance of the parking lot and uses the tablet to park vehicle automatically. The proposed APS includes a server and multiple cameras. Multiple cameras are equipped around the parking lot to real-time monitor parking spaces. Once a parking space is detected, the image of the parking space is sent to the server. The server processes the image, marks the unoccupied parking space on the map of the parking lot, and sends the marked map to the user's tablet via wireless communication, such as 3G/Wifi. An interface is developed and installed in user's tablet to receive the marked map from the server and to display which parking spaces are unoccupied on the map. After user selects an unoccupied parking space on the tablet, a command is sent to user's vehicle. The vehicle then goes to the booked parking space and performs the back-in parking automatically. A path tracking scheme is proposed to navigate the vehicle. The PT scheme adopts the concepts of pure pursuit algorithm and kinematic steering condition to obtain steering angle. Implementation results show that the proposed APS can successfully guide vehicle to park in a parking lot automatically.