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학술대회 A Control System For Autonomous Vehicle Valet Parking
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저자
민경욱, 최정단
발행일
201310
출처
International Conference on Control, Automation and Systems (ICCAS) 2013, pp.1714-1717
DOI
https://dx.doi.org/10.1109/ICCAS.2013.6704211
협약과제
13IC2200, 자동 발렛파킹을 위한 센서기반 공간인지 및 자동주행기술개발, 최정단
초록
The autonomous vehicle valet parking service (AVP) enables a vehicle to drive and park without any human interaction. The driverless vehicle has to follow the scheduled route and be parked in a parking lot automatically. Most fundamental technologies for autonomous vehicle valet parking service are controlling vehicle driving and parking. For autonomous driving, the path to near goal parking lot has to be generated and control commands to follow the path have to be generated continuously. For autonomous parking, the controlling vehicle steer value has to be found to park the vehicle at a parking lot well. We have used two turning radius circles to find vehicle steering control value about perpendicular and parallel parking method basically. These two vehicle turning radius circles are minimum radius circles in initial and are updated in real time as vehicle stop location in parking mode. In this paper, we have developed the control system for autonomous vehicle valet parking service in parking area with low speed limited. © 2013 IEEE.
KSP 제안 키워드
Autonomous parking, Autonomous vehicle, Control systems, Parking Service, Parking area, Parking lot, Real-Time, Vehicle driving, Vehicle steering control, autonomous driving, driverless vehicle