A-priori map information and path planning for automated valet-parking

Automated valet parking can help manage space in parking garages more efficiently and increase the comfort for the driver by delegating the parking task to the system. To successfully navigate the vehicle in a parking garage, the valet parking system requires a-priori information about the environment. This paper shows an approach to derive a-priori information from available blueprints of a parking lot. Based on the derived map data, paths for Ackermann-steered vehicles are planned to navigate vehicles through the parking area and park them into desired parking spots.