Implementation of an autonomous driving system for parallel and perpendicular parking

This paper proposes an autonomous self-parking system in specific parking area. In this system, the vehicle can drive itself and find the parking spaces to park automatically using a smartphone. The system consists of parking place searching, steering control, path tracking and wireless communication. According to the type of the parking space which has recognized by ultrasonic scanning, the system will record the suitable parking space, and send the information to the driver's smartphone via wireless network. The developed system sees a limit at vehicular length of +0.8 m and vehicular width of +1m in parallel and perpendicular lot respectively by using Fuzzy-PID steering tracking control and self-positioning via odometry. After the parking is finished, our system will send a success message to inform the driver. The maximum angle between demonstrated vehicle and connecting line of bordering vehicles is smaller than 5°. Our proposed system is carried out with theoretical algorithm, and hardware integration, and furthermore the result shows the ability of vehicle parking.