Development of Auto-Parking System and Vehicles Recognition with In-Vehicle Range Finder

Abstract

This paper proposes an automatic parking system to reduce burden of vehicle driver. A target parking position is selected automatically from empty space in a parking lot. To find the empty space the parked vehicles are recognized based on distance information measured by an in-vehicle 3-dimensional range finder. The optimal trajectory is generated to minimize rate of change of curvature. The effectiveness of the proposed system is verified by simulation and experimental results in parking lots.