The configuration of the currently developed ipas (intelligent parking assistant system) is described. ipas allows driver to designate target position by three complimentary methods: monocular vision based parking slot marking recognition, ultrasonic sensor based parallel parking slot recognition, and drag&drop gui (graphical user interface). Ipas generates an optimal path to reach the designated target position. during parking operations,ipas estimates ego-vehicle pose using esp (electric stability program) sensors such as wheel speed sensors, braking pedal switch and steering anglesensor. Ipas automatically controls braking and steering to achieve planned trajectory by sending required actuations to esp and eps (electric power steering) via can. Furthermore, ipas informs driver of the on-going parking operation by showing estimated trajectory on the rear view image. The proposed system is validated by vehicle experiments.
Abstract