Automatic parallel parking and returning to traffic manoeuvres

Author

Paromtchik, Igor E. ; Laugier, Christian

Author_Institution

Inst. Nat. de Recherche en Inf. et Autom., Montbonnot Saint Martin, France

Volume

3

fYear

1997

fDate

7-11 Sep 1997

Abstract

This paper describes the control approach developed to perform parallel parking and returning to traffic manoeuvres for a car capable of autonomous motion. The key idea is to carry out a motion control procedure involving a “localization-planning-execution” cycle until a specified location of the car relative to its environment is reached. Range measurements are used to model environmental objects around the car. The automatic manoeuvres developed are demonstrated on an experimental electric autonomous car in a usual traffic environment

Keywords

automobiles; computer vision; distance measurement; motion control; path planning; position control; ultrasonic transducers; automatic parallel parking; autonomous electric car; localization; motion control; path planning; position control; range measurements; range sensors; traffic manoeuvring; Automatic control; Automatic testing; Axles; Equations; Measurement units; Motion control; Servomechanisms; Traffic control; Velocity control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.656803

Filename

656803