Design and Implementation of a Small-scale Autonomous Vehicle for Autonomous Parking
Design and Implementation of a Small-scale Autonomous Vehicle for Autonomous Parking
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DOI：
10.1109/cacre52464.2021.9501311
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发表时间：
2021-07
期刊：
影响因子：
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通讯作者：
Tianhao Yu;W. Lu;Yanshen Luo;Chenguang Niu;Wencen Wu
中科院分区：
文献类型：
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作者：
Tianhao Yu;W. Lu;Yanshen Luo;Chenguang Niu;Wencen Wu
在本文中，我们介绍了一种低成本、小型自动驾驶汽车的设计和实现，该汽车配备了车载计算机、摄像头、激光雷达和一些其他配件。我们实现了各种与自动驾驶相关的模块，包括地图和定位、物体检测、避障和路径规划。为了更好地测试系统，我们重点关注自动泊车场景。在这种场景下，车辆能够按照混合A*算法规划的路径，自主地从指定的起点移动到所需的停车场。车辆能够检测物体并避开路径上的障碍物，并实现自动停车。
In this paper, we introduce the design and implementation of a low-cost, small-scale autonomous vehicle equipped with an on-board computer, a camera, a Lidar, and some other accessories. We implement various autonomous driving-related modules including mapping and localization, object detection, obstacle avoidance, and path planning. In order to better test the system, we focus on the autonomous parking scenario. In this scenario, the vehicle is able to move from an appointed start point to a desired parking lot autonomously by following a path planned by the hybrid A* algorithm. The vehicle is able to detect objects and avoid obstacles on its path, and achieve autonomous parking.