Autonomous parking carrier for intelligent vehicle

Abstract

In this paper, we consider a parking method for autonomous vehicle in an underground car park. The implemented method is decomposed into three tasks. Starting from configuration given by the vehicle owner, the first one is the motion control of the vehicle from his residence to the car park. After joining the underground car park thanks to the implementation of a path tracking method, the next step is the scrutation of a free space in the car park followed by the operations used for the parking maneuver. The last one, during all the previously seen stages, is the localization mechanisms that allows the vehicle to keep a correct position in the global frame during the whole displacement.