Autonomous parallel parking system for Ackerman steering four wheelers

Abstract

Parallel parking is challenge for all drivers say amateurs or the experts. An automatic car parking system is a solution to this ordeal. This vehicular technology has been implemented using many other systems but a cost effective, simple and accurate solution will be greatly appreciated. This paper explains in detail a simple and precise autonomous car-parking algorithm for Ackerman steering configuration. A two-part trajectory-planning algorithm consists of the steering planning and simple distance calculations. The limits of vehicle mechanism and drive torque are taken into account. Simulation results are presented to illustrate the application of the proposed algorithm. The algorithm uses geometric calculations for its path planning and odometry. The system uses sonar sensors and wheel encoders for its perception. This sensed data is interpreted in the processor of the vehicle. As per the trajectory determined, the vehicle parks itself into the parking space. Simulation and experiment results shows that using this algorithm the parking maneuver will become more safe, efficient and fast.