Some commercial vehicle models have been equipped with semiautonomous parking systems to a certain extent. However, gaps to fully automated solutions still exist, and cost considerations further constrain their acceptance among consumers. This paper proposes a low-cost vision-based approach to a fully self-reverse parking system. It consists of four key modules: a novel path-planning module ensures that a feasible path is available under any initial poses, which frees human intervention completely; a modified sliding mode controller on the steering wheel is designed for path following; image processing with Kalman state prediction provides consistent and real-time estimation on the vehicle pose; and a robust overall control scheme ensures that the vehicle can accurately park along the slot center line without intrusion into adjacent slots. Experimental results based on 216 on-field tests under different illumination conditions showed that the proposed system was able to accurately and consistently park the vehicle in all cases with a 4.71-cm RMS offset distance from the center line and a 1.24° RMS orientation deviation. With its easy setup and excellent performance, this system can be practically and robustly implemented to existing vehicles with minimal additional cost.
Autonomous Reverse Parking System Based on Robust Path Generation and Improved Sliding Mode Control
2015
Article (Journal)
English
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