Multi-Sensor Information Ensemble-Based Automatic Parking System for Vehicle Parallel/Nonparallel Initial State

The goal of automatic parking system is to accomplish the vehicle parking to the specified space automatically. It mainly includes parking space recognition, parking space matching, and trajectory generation. It has been developed enormously, but it is still a challenging work due to parking space recognition error and trajectory generation for vehicle nonparallel initial state with parking space. In this study, the authors propose multi-sensor information ensemble for parking space recognition and adaptive trajectory generation method, which is also robust to vehicle nonparallel initial state. Both simulation and real vehicle experiments are conducted to prove that the proposed method can improve the automatic parking system performance.