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Intelligent Parking System for Car Parking Guidance and Damage Notification

Sanaa Alfatihi, Soukaina Chihab and Yassine Salih Alj

School of Science and EngineeringAl Akhawayn University

Ifrane, Morocco{s.alfatihi, s.chihab, y.salihalj}@aui.ma

Abstract — This paper presents an innovative intelligent

parking system (IPS) that has two functions: Car parking

guidance and car damage notification. IPS is an advanced

automatic driving system that consists of car guidance

which proposes oriented assistance for drivers while

parking. IPS has some interesting functionalities that

ensure an easy parking without damages, parking within

less time in any suitable spots and getting a notification if

the parked car has been scratched or damaged while the

driver is not in the car. The main purpose of the IPS system

considers a control car system, an algorithmic move car

system and a damage notification system to the vehicle.

During the parking process, the driver is alerted by visual

and sound signals. The IPS system provides a path planning

image that is displayed on the on-board computer system to

indicate the directions for the wheels. The damage

notification system consists of car-camera shock sensors

placed in the front and rear of the vehicle that record the

incident when the driver is not in the car.

Keywords-Control car system; notification; path plannig;on-board computer system.

I. I NTRODUCTION

Parking is an acquired ability many drivers strugglewith because of several reasons; such as the traffic jam,the small spots reserved for parking, and poor drivingskills. Because of this, cars that have the capacity to useautomated and self-parking system have become morewidespread and admired in new vehicles mainly as it proposes an added value to the customer [1]. Poor parking skills can result in car scratches and damages,

disappointment of the driver, and loss of time and loss inconfidence. Most of the time, car drivers don’t payattention to some possible spots as it will require themmore effort or an external person to guide them into the

parking spot. In addition, sometimes, when a driver parkshis car in an uncontrolled area or a tiny spot, there is arisk that the vehicle gets scratched or damaged withoutthat the driver gets notified. Therefore, modern parkingsystems for meeting driver parking needs are required.Using modern electronic technologies, smart orientedassistance parking, and wireless connections in thevehicle help improving the driver parking skills andreduce the risk for car damages. This paper suggests an

innovative and smart parking system which is the

intelligent parking system (IPS) that has twofunctionalities which are oriented-guidance parking anddamages notification for vehicles incidents. In 2004,Toyota Motor Corporation succeeded to develop theautonomous parking system and implement it in theHybrid Prius cars and later the Lexus models [2]. InEurope, The German BMW Corporation started using this

self-parking technology in all their new models especiallyfor the horizontal parking situations [3]. The IPS systeminvolves three main mechanisms which are the control car

system, the algorithmic move system, and the damagenotification system in order to have a secure parking process without damages, as well as getting notifiedwhen the car is damaged while parked in uncontrolledarea. During the parking process the driver is alerted byvisual and sound signals. For the visual signal thatappears in the dashboard computer system, it lets thedriver know how to move into the spot beside the frontcar, and behind its back. For the sound signal, it is for showing how near the car is from the boundaries of the

parking spot and for avoiding objects. Furthermore, theIPS system which is autonomous, notify the damagesdone in the car while the driver is not in the vehicle by placing the car camera shock sensors that will be

connected to the dashboard system. The car camera shock sensors work by emitting a red light when the driver startsthe car. The driver accesses the notification via a pictureor a video recorded in the display unit.

The paper is organized as follows. In Sec. II, a background to the related work and a contribution of theIPS system are provided. Sec. III presents the intelligent parking system with its design discussion. In Sec. IV, adraft cost analysis is provided. Finally, in Sec. V aconclusion of the paper is given.

II. R ELATED WORK AND MOTIVATION

Over the past few years, several vehicle manufacturersstarted including modern technologies within the cars for parking guidance. Among them there is BMW’s self- parking system, Mercedes’ parking assistance system,Audi’s guidance parking system and Toyota’s intelligent parking assistance system.

2013 4th International Conference on Intelligent Systems, Modelling and Simulation

2166-0662/13 $26.00 © 2013 IEEE

DOI 10.1109/ISMS.2013.35

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A. BMW’s Self-Parking System

BMW Corporation has developed a parking-assisttechnology that can park the car while the driver standsoutside and watches as the internal robotics park it usinga combination of sensors [4]. However, this noveltechnology does not work everywhere because not only

the component of the system should be implemented intothe car but also in the chosen parking spot. By installinga reflective lens in the wall of the parking spot and avideo camera in the front of the car, the system cancompute the distance and angle regarding the lens. The

other sensors try to check if there is at least 8 inches of space on the left and right sides of the vehicle. Accordingto the data gathered from the sensors, the reflective lens,the video camera, the accelerator pedal, the brake and thesteering wheel are automatically controlled. A prototypeof the self-parking system has been implemented in theBMW 730i.

B. Mercedes’ Parking Assistance SystemMercedes Corporation has newly implemented parking

assistance system in its new series production [5]. Thisautonomous system works by using radar technology tohelp the driver find a suitable parking space and park thevehicle. While driving at a speed no more than 40 km/h,the radar sensors mounted in the front and the rear of thecar check if the parking spot on all sides of the car areadequate for the parking process. Therefore, a blue “P”symbol is displayed within the instrument panel if the

system finds a sufficient parking spot and if the car speedis no more than 16 km/h. Once, the driver stops the car inthe space displayed on the computer dashboard system,the colored arrows give to the driver an idea about how best to park. The red line illustrates the steering angle of the current position. The yellow line illustrates thesteering angle that is required for parking. The driver should turn the steering wheel until the two lines getidentical and coincide. When the two lines coincide, thelines change to a single green line. During the whole parking process, the assistance system continuouslymanages the steering angle and the car position.

C. Audi’s Guidance Parking System

Audi Corporation has developed the guidance parkingsystem that assist and maneuver the parking process [6].

The modern system is a parking aid device for the driver that looks for a suitable parking space, detects obstaclesin blind spots and even gives reliable sound and visual

warnings. The approach of the system proposes that itworks using three steps: the scanning, the positioning,and the maneuvering steps. Through their system, theytook even into consideration the constraints of thesurroundings that may interfere during the autonomous parking. They implemented the autonomous system by

using up to eight ultrasonic sensors into the bumpers thatdetect the distance to the obstacle and send the distancemeasurement to the computer dashboard. As soon as thedistance decreases to less than 120 centimeters in front of

the vehicle or less than 160 centimeters behind it, anintermittent signal sounds. If the distance falls to lessthan 30 centimeters, the signal becomes a continuous

tone. According to the data processed by the computer,the display unit will monitor the driver by showingguidelines in the panel. Additionally, for finding a parking space, the system works uses 10 ultrasonicsensors that search for an adequate spot beside the road.Driving by up to 30 km/h; once a spot has been detected,the system computes the ideal parking path. Then, thesystem completes the parking process approximatelyautomatically since the driver needs to just to accelerateand brake while the steering wheels are automaticallyguided.

D. Toyota’s Intelligent Parking Assistance

Toyota has developed an intelligent parking assistancethat consists of accurate oriented car guidance and a

tracking algorithm that controls efficiently the vehicle parking [7]. The system works using four ultrasonicwave sensors implemented into the corners of the bumper, a steering-sensor and a camera installed in therear of the vehicle. Once the ultrasonic sensors detectsthe obstacle, the driver gets notified with a sound andvisual signal represented by a lamp alerts. Additionally,the steering-sensor uses the steering angle to detect thedistance of approaching obstacles and notifies the driver by a sonar indication. The camera implemented displaysthe view when parking in a garage in the dashboard

computer system. The system gives parking car guidanceto the driver by assisting the steering wheel operation.The main goal of the system is to provide an automated

parking system that helps drivers to fit the car into parking spots accurately without any damages.

E. Motivation

In this paper, we suggest an extension to what existing

self-parking cars projects have already proposed. The proposed extension build upon the previous work isabout developing an intelligent parking system that notonly would orient the driver while parking but also that

would notify the driver about any damages or scratchesdone in the car, when the driver is away or while he is parking in uncontrolled area. The main idea is to apply acontrol car system, an algorithmic move system, and adamage notification system to the vehicle. Moreover, weview the contribution as follows.

• Illustrate how the damage notification system isable to complement the existing oriented

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guidance system to notify the driver when hiscar has been damaged.

• Formally define the novel damage notificationsystem for damages notifications that isassociated to the IPS system.

III. I NTELLIGENT PARKING SYSTEM DESIGN

In this section, we describe the overall configuration of the IPS system which consists of three main mechanismswhich are the control car system, the algorithmic movecar system and the damage notification system. Indeed,

the system should be able to give an automated guidanceto the driver and would also enable users to get notifiedwhen someone damages their car while their vehicle is parked in an uncontrolled area. Fig. 1 illustrates the block diagram of the system design of IPS. The elements of each subsystem are as follows.

I

Figure 1. Block diagram of the proposed Intelligent Parking System.

A. Control Car System

The control car system is used for controlling

forward/backward and left/right movement and thissystem contains all the hardware (Ultrasonic sensors,Distance sensors and Buzzer unit) and its associatedsoftware (Display unit) [8]. The system begins bydetecting whether the space is large enough and whether there are no obstacles. Once the driver finds a potentialspot, the control car system starts the process of objectdetection and oriented guidance for the parking process[8].

1) Ultrasonic Sensors

Ultrasonic sensors are sensing systems that work asemitter of short ultrasonic pulses and receiver of thereflected signal which illustrates the presence of anobstacle or not. Ultrasonic Sensors work as detectors atlow level of accuracy that are placed in the front/ back and left/right of the car. Front sensors are generallyactivated by pressing a button and then automatically

deactivated when the vehicle exceeds a certain speed;

this is to avoid nuisance warnings in slow moving traffic.The main goals of the ultrasonic sensors are as follows[9] [10].

• Measuring the distances to nearby objects at lowlevel.

• Checking the obstacles using the echo time

formula to display the distance of how far theyare. The echo time represents the difference between the time of pulse transmission anddetection of the reflected signal to calculate thedistance which is given by

d=v.∆t, (1)

where d is the distance to the obstacle, v the speed of thesound wave signal, and ∆t the difference between thetime pulse transmission and detection of the reflectedsignal. The average speed of sound at 10°C is

approximately 335m/s [10].In the IPS system, the ultrasonic sensors are placed in the

front and rear of the car .Ultrasonic sensors transmitssound waves between 25 kHz and 50 kHz [10]. They usethe reflected energy to analyze and detect the status of a parking space, which means detecting if the place foundis suitable for parking or not. Once the process begins ashort ultrasonic waves are released approximately every60 milliseconds, to determine the occurrence of anobstacle.

2) Display Unit

The visual signal that uses the light-emitting diodes(LED) and the liquid crystal display (LCD) readoutsreflects the direction and distance to obstacles [11].Those directions are illustrated by arrows that vary fromgreen to red when the vehicle is close to the boundariesof the other car. Thanks to the distance to obstacles d given by the ultrasonic sensors, the on-board computer system displays an image of four arrows that representsthe distance between the car and its boundaries in the parking spot [12]. Once the parking process begins the

display unit is activated. After turning the wheels and the picture is displayed on the dashboard, the driver isresponsible for checking to see if the representative boxon the screen of the display unit correctly identifies the

parking space, and the car's rear view appears on displayunit. The display unit that we used is an LCD displayunit, which uses colors that move from green line untilred line color and adjustment arrows to help the driver byindicating where to turn the wheels and when to stop.Those colors depend on the distance between the car andthe obstacle D. If the car is far from the obstacle, thedriver will see green line color in the display unit. Oncethe display unit begins showing the colors and the

IntelligentParking

System

Control Car System

AlgorithmicMove Car

-UltrasonicSensors- Buzzer Unit- Display Unit

Damage Notification

System

-Actuators- Move Car System

-Car CameraShock

Sensors

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arrows, automatically the buzzer unit begin to emitsounds [12].

3) Buzzer Unit The audible signal is represented by beeps that are

continuously heard during parking process. The buzzer unit works in parallel with the display unit. The

frequency of the beeps increases when the car isextremely close to the obstacle or to the boundaries [13].Therefore, the frequency of the beeps depends on thedistance to the obstacle retrieved from (1) and is given by

f= k . d , (2)

where f is the frequency of the beeps, k is the proportional factor and d is the distance to an obstacle.

B. Algorithmic Move Car System

The algorithmic move car system illustrated in Fig. 2represents the connection between the control car system

and the microcontroller. It gives an oriented assistance tothe car and implements its directions movement which isshown in the display unit [14].

1) ActuatorsActuators are motors for moving or regulating a

system that convert an electronic input into motion. Inthis context the used actuators are motors that are linkedto the brakes, the throttle and the steering that wouldmonitor the low level control of these devices. The brakes, the throttle and the steering actuators would beconnected to the control system in order to change thedirection or the movement of the car when it gets near anobstacle. After checking that there is no obstacle in the

parking space, the driver begins the process of parking.He starts turning the wheels of the car and regulating thespeed of the vehicle by pressing and releasing the brake pedal. Moving forward until the vehicle’s rear bumper passes the rear wheel of the car parked in front of the parking spot [15].

Figure 2. Block diagram of the algorithmic move car system.

2) Move Car System

Move Car System (MCS) contains a microcontroller that controls the steering wheel and the brakes. The MCSsystem covers the detection of the parking space and the parallel parking algorithms. The parking space detectionand the parking algorithm will get notified from the

ultrasonic sensors and the ultrasonic sensors in order toshow the movement and directions to the driver in thedisplay unit. Once a parking space has been detected, the parking algorithm is called. The parking algorithm givesthe steps to the driver that he should follow to have agood parking without any damages and scratches [16].

After detecting an obstacle by the sensors, the brake,

throttle, and the steering actuators allow the MCS tochange the movement and direction of the vehicle asneeded. Once the ultrasonic and distance sensors emit adigital signal to the Move car system, the received valueswill determine the direction of the wheels [16]. Asoftware is required to connect to the hardware part and

the MCS that works with an algorithm which processesthe received data from the sensors, and convert it to the buzzer unit and the display unit.

C. Damage Notification System

The damage notification system (DNS) is anelectronic system that consists of car-camera shock sensors installed in the front and rear of the car so as torecord any incident when the driver is away, especiallywhen the car is parked in an uncontrolled zone. The purpose of DNS is notifying the driver if another car hitsand damages the parked vehicle as the car-camera shock

sensor sends a signal to the computer dashboard system

indicating the intensity of the damage. Depending on theseverity of the shock, the computer dashboard systemsends a warning red light signal as soon as the driver started the car and displayed the video and image of theshock in the display unit.The car-camera shock sensor consists of a centralelectrical contact around a cylinder that is connected to asecondary electrical contact and contains a metal ball[17]. All these elements are linked to a camera. Fig.3illustrates the design of the car camera shock sensor. Thesensor is moved from its resting position when the car ishitting or vibrating, the metal ball rolls in the cylinder.As the ball is rolling, it breaks the connection between

the central electrical contact and the secondary electricalcontact which closes the switch notifying the computer dashboard system of a shock. Based on this notification,the camera starts recording a 10 seconds video of theincident. The problem with the DNS is that the computer dashboard system has no way to measure the intensity of the shocks and vibrations, which may result sometimes infalse shock notifications [17].

Parkingspace

measurement done

by

Ultrasonicsensors

Beeps done by the

Buzzer Unit

Microcontroller

Displaydirections in

the LCD

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Figure 3. Block diagram of the Camera Shock Sensor Cylinder.

IV. COST A NALYSIS

The aim of this study was to design a safe self-parkingcar system that would be friendly used and that wouldhelp the drivers to park in a good and secure manner. Nowadays, the IPS has become much demanded system because of its parking advantages of helping the driversto park without damages and in less time. This study

consists of developing and building the IPS system witha good quality components and a convenient price. Whileconstructing the system, we targeted to choose carefullythe components. The objective is to assemble a systemthat would be strong and that will last for a long period of time. The IPS is made up of two ultrasonic sensors, one

microcontroller, two car camera shock sensors, one buzzer unit and one display unit. For the ultrasonicsensors we considered the Parallax’s PING)))™ which isvery renowned in the ultrasonic distance sensorstechnology [18]. It provides a very low-cost and easymethod of distance measurement. This sensor is perfectfor any number of applications that require to perform

measurements between moving or stationary objects, ithas a reasonable cost of 30 $. Also, we considered themicrocontroller PIC16F877A which is a CMOS flash- based 8-bit microcontroller [19]. It has 40 input/output pins and 20MHz clock frequency [19]. Themicrocontroller controls all the sensors and uses their outputs to compute the parking space and to instruct the

driver to park the vehicle safely. It also uses the LCD todisplay the results and the parking instructions. The

considered Xenos XCT-XRM-0900 Visual Display Unit isrenowned as the best LCD/LED display unit used for cars in the market because of its very good criteria [20].The fourth component in the IPS system is the buzzer unit which is used as an alarm for the driver. Theconsidered DT104 buzzer (BB-03V-2) offers flexible

programming services [21]. The remaining component is

the car camera shock system, which is used for thedamage notification system. The considered Dual Camera Vehicle Blackbox GPS Logger will not only filmthe trip but would also record shocks and back track incidents while the driver is away [22]. As a result, thiscar system is not too expensive especially for its affordedadvantage and for its car guidance and car damagenotification. The total cost of IPS has been calculated to be 1575 USD. This amount is calculated as shown inTable. I. For sure, not all individuals can afford buyingthis feature, but people started buying them because of their usability. In the near future, more IPS systems

would be used and would be widespread in all cars.

V. CONCLUSION

This paper presented an intelligent parking system(IPS). The aim of this study is to develop an automatedsystem parking aid device and a damage notificationsystem. The considering mechanisms that are the controlcar system, the algorithmic move system and the damagenotification system represent the design of IPS. Once thecontrol car system starts, the parking surrounding isscanned using ultrasonic sensors. This scanned

information is processed by the algorithmic move car system to identify the parking directions of the vehicle.The novel contribution of the paper includes the damagenotification system for incidents notifications. The systemis implemented using a car camera shock sensors placedin the front and rear of the vehicle. The primarymotivation behind this contribution was to help the driver gets notified when the car is damaged by another car while it is parked in an uncontrolled area. The car camerashock sensors emit a signal to the computer dashboarddepending on the intensity of the damage. As soon as thedriver starts the car, the computer dashboard systemshows a warning red light, and then displays a video of 10seconds of the shock within the display unit. Additionally,after using the collected data, the project initial cost wasestimated to 1575 USD (14175 MAD). We found that the

initial cost of the components is low in contrast with thelong term benefit that the IPS would offer to drivers, thusit can be implemented even in economic cars. Costeffective on a number of vehicles, intelligent parkingsystems offer significantly improved services to thecustomer.

SecondaryElectrical

Contact

Metal ballrolling to

create electric

current

Camera

Input:Vibrating/Hitting the

car

Output: DisplayVideo of shock in

the display unit

CentralElectrical

Contact

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TABLE I. COST ANALYSIS FOR IPS.

Components Type Description Quantity Price

($)

Ultrasonicsensors

Parallax'sPING)))™

-Performmeasurements

between movingand stationary

object

2 60

Buzzer Unit

DT104 buzzer Model No:BB -03V-2

-High quality andeasy to install.

1 69

DisplayUnit

Xenos XCT-XRM-0900VisualDisplay Unit

-LED Block Light-Display size 9inches-Power supply :12V DC

1 700

Micro-controller

PIC16F877A

-Controls all thesensors and usestheir outputs tocalculate the

parking space.

1 12

Car-CameraShock Sensor

Dual cameravehicle black

boxGPSLogger

-Front and Rear view-lighter powered-GPS map-record accidentwith picture

2 734

Total Cost

1575

(14175

MAD)

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