Volume XLII-2/W7
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W7, 241-246, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W7-241-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W7, 241-246, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W7-241-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.

  12 Sep 2017

12 Sep 2017

AUTOMATIC PARKING OF SELF-DRIVING CAR BASED ON LIDAR

B. Lee, Y. Wei, and I. Y. Guo B. Lee et al.
  • State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, China

Keywords: Automatic driving, Parallel driving, Perpendicular driving, Path planning, Fuzzy logic controller

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.