Parking Space Detection and Path Planning Based on VIDAR
The existing automatic parking algorithms often neglect the unknown obstacles in the parking environment, which causes a hidden danger to the safety of the automatic parking system. Therefore, this paper proposes parking space detection and path planning based on the VIDAR method (vision-IMU-based d...
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| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2021/4943316 |
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| _version_ | 1832564835942924288 |
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| author | Yi Xu Shanshang Gao Guoxin Jiang Xiaotong Gong Hongxue Li Xiaoqing Sang Liming Wang Ruoyu Zhu Yuqiong Wang |
| author_facet | Yi Xu Shanshang Gao Guoxin Jiang Xiaotong Gong Hongxue Li Xiaoqing Sang Liming Wang Ruoyu Zhu Yuqiong Wang |
| author_sort | Yi Xu |
| collection | DOAJ |
| description | The existing automatic parking algorithms often neglect the unknown obstacles in the parking environment, which causes a hidden danger to the safety of the automatic parking system. Therefore, this paper proposes parking space detection and path planning based on the VIDAR method (vision-IMU-based detection and range method) to solve the problem. In the parking space detection stage, the generalized obstacles are detected based on VIDAR to determine the obstacle areas, and then parking lines are detected by the Hough transform to determine the empty parking space. Compared with the parking detection method based on YOLO v5, the experimental results demonstrate that the proposed method has higher accuracy in complex parking environments with unknown obstacles. In the path planning stage, the path optimization algorithm of the A∗ algorithm combined with the Bezier curve is used to generate smooth curves, and the environmental information is updated in real time based on VIDAR. The simulation results show that the method can make the vehicle efficiently avoid the obstacles and generate a smooth path in a dynamic parking environment, which can well meet the safety and stationarity of the parking requirements. |
| format | Article |
| id | doaj-art-990774687b92434c868a55f0434f4e2f |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-990774687b92434c868a55f0434f4e2f2025-02-03T01:10:11ZengWileyJournal of Robotics1687-96192021-01-01202110.1155/2021/4943316Parking Space Detection and Path Planning Based on VIDARYi Xu0Shanshang Gao1Guoxin Jiang2Xiaotong Gong3Hongxue Li4Xiaoqing Sang5Liming Wang6Ruoyu Zhu7Yuqiong Wang8School of Transportation and Vehicle EngineeringSchool of Transportation and Vehicle EngineeringSchool of Transportation and Vehicle EngineeringSchool of Transportation and Vehicle EngineeringSchool of Vehicle and EnergySchool of Transportation and Vehicle EngineeringSchool of Transportation and Vehicle EngineeringSchool of Transportation and Vehicle EngineeringSchool of Transportation and Vehicle EngineeringThe existing automatic parking algorithms often neglect the unknown obstacles in the parking environment, which causes a hidden danger to the safety of the automatic parking system. Therefore, this paper proposes parking space detection and path planning based on the VIDAR method (vision-IMU-based detection and range method) to solve the problem. In the parking space detection stage, the generalized obstacles are detected based on VIDAR to determine the obstacle areas, and then parking lines are detected by the Hough transform to determine the empty parking space. Compared with the parking detection method based on YOLO v5, the experimental results demonstrate that the proposed method has higher accuracy in complex parking environments with unknown obstacles. In the path planning stage, the path optimization algorithm of the A∗ algorithm combined with the Bezier curve is used to generate smooth curves, and the environmental information is updated in real time based on VIDAR. The simulation results show that the method can make the vehicle efficiently avoid the obstacles and generate a smooth path in a dynamic parking environment, which can well meet the safety and stationarity of the parking requirements.http://dx.doi.org/10.1155/2021/4943316 |
| spellingShingle | Yi Xu Shanshang Gao Guoxin Jiang Xiaotong Gong Hongxue Li Xiaoqing Sang Liming Wang Ruoyu Zhu Yuqiong Wang Parking Space Detection and Path Planning Based on VIDAR Journal of Robotics |
| title | Parking Space Detection and Path Planning Based on VIDAR |
| title_full | Parking Space Detection and Path Planning Based on VIDAR |
| title_fullStr | Parking Space Detection and Path Planning Based on VIDAR |
| title_full_unstemmed | Parking Space Detection and Path Planning Based on VIDAR |
| title_short | Parking Space Detection and Path Planning Based on VIDAR |
| title_sort | parking space detection and path planning based on vidar |
| url | http://dx.doi.org/10.1155/2021/4943316 |
| work_keys_str_mv | AT yixu parkingspacedetectionandpathplanningbasedonvidar AT shanshanggao parkingspacedetectionandpathplanningbasedonvidar AT guoxinjiang parkingspacedetectionandpathplanningbasedonvidar AT xiaotonggong parkingspacedetectionandpathplanningbasedonvidar AT hongxueli parkingspacedetectionandpathplanningbasedonvidar AT xiaoqingsang parkingspacedetectionandpathplanningbasedonvidar AT limingwang parkingspacedetectionandpathplanningbasedonvidar AT ruoyuzhu parkingspacedetectionandpathplanningbasedonvidar AT yuqiongwang parkingspacedetectionandpathplanningbasedonvidar |