AUTOMATIC PARKING OF SELF-DRIVING CAR BASED ON LIDAR

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ID: 71249
2017
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Abstract
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.
Reference Key
lee2017automaticthe Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Lee, B.;Wei, Y.;Guo, I. Y.;
Journal the international archives of the photogrammetry, remote sensing and spatial information sciences
Year 2017
DOI
DOI not found
URL
https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLII-2-W7/241/2017/isprs-archives-XLII-2-W7-241-2017.pdf
Keywords
Engineering (General). Civil engineering (General) Technology Science general works applied optics. photonics transportation engineering electronic computers. computer science engineering machinery, tools, and implements machine design and drawing

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