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Visual Based Control Approach for Autonomous Parking

Abdallah Bader

Visual Based Control Approach for Autonomous Parking.

Rel. Stefano Alberto Malan. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2019

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Autonomous valet parking requires roaming the vehicle within the valet and as it arrives close enough to the target parking spot, a final maneuver is performed. In this research, such a maneuver is performed within a visual servoing framework; the relative pose of the parking spot is estimated relying on a monocular camera feed within a closed loop control system. Two control algorithms are used to solve the motion control problem, one is a cascade proportional controller with which the parking can be initiated from a defined region, another is an optimization-based control law that is tailored for L curve parking cases. Control system is developed within MATLAB and Simulink relying on synthetic image of a parking spot such that an online imagery feed is acquired. The simulation is divided into modules mainly related to perception, monocular camera model, the single-track kinematic model of the vehicle and finally the control algorithms. In addition to simulation, parking spot detection techniques of real scenarios are analyzed.

Relators: Stefano Alberto Malan
Academic year: 2019/20
Publication type: Electronic
Number of Pages: 62
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Aziende collaboratrici: Magneti Marelli spa
URI: http://webthesis.biblio.polito.it/id/eprint/12458
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