Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDAR
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 b...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-01-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/3/979 |
| _version_ | 1797484733437837312 |
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| author | Felipe Jiménez Miguel Clavijo Alejandro Cerrato |
| author_facet | Felipe Jiménez Miguel Clavijo Alejandro Cerrato |
| author_sort | Felipe Jiménez |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T23:08:41Z |
| format | Article |
| id | doaj.art-384dbbeb64f146c6bbb1b454081de757 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T23:08:41Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-384dbbeb64f146c6bbb1b454081de7572023-11-23T17:48:33ZengMDPI AGSensors1424-82202022-01-0122397910.3390/s22030979Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDARFelipe Jiménez0Miguel Clavijo1Alejandro Cerrato2University Institute for Automobile Research (INSIA), Campus Sur UPM, Universidad Politécnica de Madrid (UPM), 28031 Madrid, SpainUniversity Institute for Automobile Research (INSIA), Campus Sur UPM, Universidad Politécnica de Madrid (UPM), 28031 Madrid, SpainUniversity Institute for Automobile Research (INSIA), Campus Sur UPM, Universidad Politécnica de Madrid (UPM), 28031 Madrid, SpainAutonomous 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.https://www.mdpi.com/1424-8220/22/3/979valet parkingautonomous vehicleLiDARparking maneuver |
| spellingShingle | Felipe Jiménez Miguel Clavijo Alejandro Cerrato Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDAR Sensors valet parking autonomous vehicle LiDAR parking maneuver |
| title | Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDAR |
| title_full | Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDAR |
| title_fullStr | Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDAR |
| title_full_unstemmed | Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDAR |
| title_short | Perception, Positioning and Decision-Making Algorithms Adaptation for an Autonomous Valet Parking System Based on Infrastructure Reference Points Using One Single LiDAR |
| title_sort | perception positioning and decision making algorithms adaptation for an autonomous valet parking system based on infrastructure reference points using one single lidar |
| topic | valet parking autonomous vehicle LiDAR parking maneuver |
| url | https://www.mdpi.com/1424-8220/22/3/979 |
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