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System in SimulatedEnvironment

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Developing an Autonomous Valet Parking System in Simulated Environment

Gábor G. Varga, András Kondákor, Márton Antal Budapest University of Technology and Economics Department of Automation and Applied Informatics

SAMI 2021

(2)

Introduction

2

(3)

Introduction (2)

3

(4)

Parking Space Detection

4

(5)

Parking Space Detection (2)

5

(6)

Parking Space Detection (3)

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(7)

Path planning

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• Application specific constraints

> Lanes

> Parking maneuver

> Online path planning

Structured

Fast

Precisely followable

Two different planner

(8)

Hybrid A* in structured environment

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A*

Hybrid A* Hybrid A* in structured environment

(9)

RTR + CCRS

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RTR path

RS path

CCRS path

(10)

Dynamic object detection

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(11)

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Dynamic object detection (2)

(12)

The system in operation (video demo)

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Video available on: https://www.youtube.com/channel/UCethKCG_CuYYY_Mb5pV8jIg

(13)

Future plans

13

Hivatkozások

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* University of Novi Sad, Subotica, Serbia; ** Subotica Tech – College of Applied Sciences, Subotica, Serbia. *** Budapest University of Technology and Economics,