AUTOMATIC PARKING OF SELF-DRIVING CAR BASED ON LIDAR

• Main Authors: B. Lee, Y. Wei, I. Y. Guo
• Format: Article
• Language: English
• Published: Copernicus Publications 2017-09-01
• Series: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
• Online Access: https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-2-W7/241/2017/isprs-archives-XLII-2-W7-241-2017.pdf

To overcome the deficiency of ultrasonic sensor and camera, this paper proposed a method of autonomous parking based on the self-driving car, using HDL-32E LiDAR. First the 3-D point cloud data was preprocessed. Then we calculated the minimum size of parking space according to the dynamic theories of vehicle. Second the rapidly-exploring random tree algorithm (RRT) algorithm was improved in two aspects based on the moving characteristic of autonomous car. And we calculated the parking path on the basis of the vehicle’s dynamics and collision constraints. Besides, we used the fuzzy logic controller to control the brake and accelerator in order to realize the stably of speed. At last the experiments were conducted in an autonomous car, and the results show that the proposed automatic parking system is feasible and effective.