A control system for autonomous vehicle valet parking

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.