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

International audienceThis paper explores the feasibility of a Multi-Sensor-Based Control (MSBC) approach for addressing forward nonparallel (perpendicular and diagonal) unparking problems of car-like vehicles as an alternative to classical approaches (e.g. path planning based, etc.). The results of individual cases are presented to illustrate the behavior and performance of the proposed approach as well as results from exhaustive simulations to evaluate the convergence and stability. The results presented in this work increase the versatility and validity of our MSBC approach towards a fully autonomous parking system

Multi-Sensor-Based Predictive Control for Autonomous Backward Perpendicular and Diagonal Parking

International audienceThis paper explores the feasibility of a Multi-Sensor-Based Predictive Control (MSBPC) approach for addressing backward nonparallel (perpendicular and diagonal) parking problems of car-like vehicles as an alternative to more classical (e.g. path planning based) approaches. The results of a few individual cases are presented to illustrate the behavior and performance of the proposed approach as well as results from exhaustive simulations to assess its convergence and stability. Indeed, preliminary results are encouraging, showing that the vehicle is able to park successfully from virtually any sensible initial position

Laser-Based Control Law For Autonomous Parallel And Perpendicular Parking

International audienceThis 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

Autonomous parking using a sensor based approach

International audienceThis paper considers the perpendicular parking problem of car-like vehicles for both forward and reverse maneuvers. A sensor based controller with a weighted control scheme is proposed and is compared with a state of the art path planning approach. The perception problem is threated as well considering a Velodyne VLP-16 as the sensor providing the required exteroceptive information. A methodology to extract the necessary information for both approaches from the sensor data is presented. A fast prototyping environment has been used to develop the parking application, and also used as simulator in order to validate the approach. Preliminary results from simulation and real experimentation show the effectiveness of the proposed approach