Autonomous Parking Systems

8/2/2019 Autonomous Parking Systems

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Automatic or Autonomous Parking Systems

In recently years,vehicle's has more sensors in modern technology.These technology helps

the driver in critical traffic situations.For example,in parallel parking,having distance sensors or

cameras get the data and process it by a microcontroller.

In parallel parking,drivers face to difficult situations as expensive damage and loss the time.In figure 1 shows a car parallel parking.There are lots of possible space

shape to park the car.Sensors are used to help the driver in semi-

autonomous systems.

In semi-autonomous systems,an automatic assistant which can takecare of the path planning and steer the vehicle along an optimal path

could avoid such situations.[1]An automatic assistant requires an

enviroment map includes algorithm of the space area, which is createdby the sensors may operate on ultrasonic or radar waves or optical

techniques like laser scanning or the analysis of camerainformation.Using data depands on the driver in this concept. In figure 2

shows a car which has sensitive areas of bumper mounted ultra-sonic

sensors.

Quated[2] from a company which is experinced at this issue; therefore aim to use a closed loop

structure which can find an optimal steering command in realtime for every vehicle speed and

position. The parking bay environment is transformed into a navigation field, containing suitablevehicle orientations for the whole configuration space. Given such a field, a controller can

continuously reorient the vehicle such that it follows the field towards a goal configuration inside aparking bay.Though the design of such a field as well as the developement of an orientation control

law are challanging tasks, the method has several advantages:

satisfies actuator constraints

handels a priori unknown and high speed

reacts on dynamic environment variations

allows for assisted iterations into small parking bays

generates smooth and comfortable motions

figure1

figure2


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Simulation 1: environment variation: bay is 1.5 m shorter than estimated

Simulation 2: slow enough into a large parking bay

Simulation 3: same arrangement as in Simulation 2 but due to excessive speed, the goal position has

to be adjusted

In autonomous parking systems,sensors get the position as data actually is not geometricallyright angle,curve makes error in the system.There are several methods to minimize the error .

Implementation is changed company to company.Using pattent of the firms is helpier here.

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First of all,lets look at USpatent is

Parking Assistance system (Patentno:US6,999,003 B2 Patent date: Feb

14,2006 inventors NorifumiMatsukawa,Yoshihisa Sato,Koji Kato)

Method is ,a first distance measuring

unit is included with for measuring adistance from a side of the subject

vehicle to a parked vehicle based on atime period from when transmitting a

signal that is transmitted from the side

with directionality to when receiving areflected signal.A second distantance

measuring unit is included for

measuring an advance distance in anadvance direction of the subject

vehicle.Then centered position X1minand X2min are applied.Figure 3 shows

X1,X2,Xpos and numbers correspondsthe different sensors.

Figure 5 shows how ECU works with

these sensors and devices.Left handside of the figure,there are several

different sensors get the data to ECU

for controlling,right hand side of the figure,there are several devices to use information came fromECU to be controlled.

The implemention is simple by figure 4.

Computing Xmins then computing WL refersavailable in figure 3 too car's width.Then we have

numerical methods applications as centered position tothe best results and final target point what we have.

figure3

Figure 4

figure 5


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Another patent is Feasible RegionDetermination for Autonomous Parking (Pub no:US2010/0271236 A1 Pub.date:Oct28,2010 using same parking method is

embodiment,additionally as strategy is onecycle,the other one is two cycle to designed

region which is determined.An embodiment

contemplates a method of initiating a parkingmaneuver for parallel parking a vehicle

between a first object and a second

object.Position is determined by mid-pointmethod in relaxion.Driver is signalled by these

data to park more safely.In figue 6 from patent shows the a block

diagram of autonomous parallel parkingsystem based on an embodiment .[3]

The other patent is Method for Operating aParking AID System(Pub no:US2010/0332078 A1 Pub date:Dec 30,2010inventors:Michael Hering,Torsten

Reiner,Benno Albrecht)In a method for operating a parking aid system

for a vehicle having a plurality of distance

sensors each sensing the near range of thevehicle,and having at least one path sensor

sensing a path travelled by the vehicle.Thedistance sensors are available in first mode which get the measuremential space,and distance sensor

s are availabe in least one further mode is used avoid collisions.These sensors could be calledmodes are controlled by a switch activated at different transmit sequences which is as a function ofthe movement of the vehicle.

An essential basic idea of the the invention is that the two measuring modes no longer differ bydifferent sensor characteristic curves,which must be loaded in alternation at a loss in time and thus

with a reduction of the achievable of the measurements of all distantance sensors used in the

particular measuring mode,each of the measuremential curve remain constant.[4]Advantage of the invention is ,this switching between the two measuring modes does not

cause any loss in time.Also switching as a functional movement does not require any priordeactivation of the respective other function.


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Using image processing due to capturing position pictures by a camera.Lets look at Auto-Parking Device(Pub no:US 2009/0085771 A1,Pub date: Apr 2,2009.Inventors:Jui Hung Wu,Jing-Fu Liu,Wang-Shuan Lee)

As an abstractof the patent,an auto-parking device installed on a vehicle comprises a vehicle statussensing unit for detecting a state of a vehicle ,an image acquistion unit for capturing vehicle outside

image,a range sensing unit for measuring the space,a processing unit for receiving states of thevehicle from the vehicle status sensing unit,receiving enviromental states from the image acquistion

unit and range sensing unit,calculating parking path based on parallel parking or back-in parking

controlling the device steering,throttle and brake via a driving contrul unit to automatically park thecar into the space as per the planned parking path.[5]

Figure 7 shows the inventions working process.

Autonomous Parking Strategy Based on Available Parking Space(Patent No:US8,056,667

B2 Patent Date:Nov,15,2011,inventors:Nikolai K.Moshchuk,Shih-Ken Chen)

A method controls a parallel parking of a vehicle.A

distance between the first object and the secondobject is remotely sensed.These predetermined

distances are compared each other.If the distance isgreater than the first predetermined distantance,an

autonomous first steering strategy maneuver is

performed for parking the vehicle between the firstobject and second object.The first steering strategy

maneuver consists of a first predetermined number ofstreering cycles for parking the vehicle.If the

distantance is between the first predetermined

figure 7

figure8


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distantance and second predetermined distance,an autonomous second steering strategy maneuver is

performed for parking the vehicle between the first and second object.The second steering strategymanuever consists of a second predetermined number of steering cycles for parking too but second

is greater than the first predetermined number of steering cycles.The figure 8 shows the system

general working as a diagram.

Autonomous Parking strategy of the Vehicle with Rear Steer(Pub no:US 2011/0087405A1 Pub date: Apr.14,2011 inventors: Nikolai

K.Moshchuk,Shih-Ken Chen)

When the vehicle is parked parallellybetween a first object and a second object in

response to an available parking distance

there.The vehicle includes front streerablewheels and rear streerable wheels.A

distantance between the first and second

object is sensed remotely and determiningwhether one or two cycle parking strategy.An

autonomous one cycle strategy includespivoting the front and rear steerable wheels in

respective directions for steering the vehiclein a first reverse arcuate path of the travel and

cooperatively pivoting the steerable wheels in

a counter direction for steering the vehicle in asecond reverse arcuate path to a final park

position.And also two parking cycle strategyconsist of one cycle performing maneuver and

changing a transmission gear to a drive gear

and pivoting the front and rear steerablewheels in the first direction for moving the

vehicle to a final destination.Figure 9 showsthe system working as a diagram.

Object Classification method,Parking Assistance Method,and Parking Assistancesystem(Pub no:US2010/0302069 Pub date:Dec.2,2010 inventors:Michael Frank,Petko Faber)

An object classification method in which a vehicle moves is operated in thisinvention.Assertaining afirst characteristic

quantity from thevariations of a first signal

received by a distantance

measuring sensor.Andassertaining an additional

characteristic quantityfrom the variations of a

second signal received by

the distantancemeasuring sensor.These

two assertaining sensors

figure9


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outputs are asserted in another third sensor.This result is used another sensor as predictive

result.Then comparing additional characteristic quantity and predictive quantity then generating anobject classification signal.This method is used in autonomous parking systems to classify the

objects which are around of the vehicle.

Path planing for Autonomous Parking(Pub No:US2010/0204866 A1,Pub date:Aug.12,2010

inventors Nikolai K.Moshchuk,Shih-Ken Chen)This method is supported for determining a vehicle path for autonomously parallel parking to a

vehicle in a space between two objects.A distantance is rometely sensed between two object.A

determination is made whether the distantance is sufficient.A first position to initiate a parallelparking maneuver is determined.A second position with the available parking space corresponding

to an end position of the vehicle path is determined.A first arc shapped trajectory of the travel isdetermined between the first position and an intermediate position.A second arc shaped trajectory of

the travel as same way determined.The first arc shaped trajectory is complementary to the second

arc shaped trajectory for forming a clothoid which provides a smoothed rearward steering manueverbetween the first position to the second position.This method is a solution to get a path planing at

autonomous parking due to curve or arc geometrics shape.

Method and Device for Determining the size and Position of a Parking space(Pubno:US 7,492,282 B2 Pub date:Feb.17,2009 inventors:Christian Danz,Michael Seiter)

This method and device provides for determining the size and position of a parking space in relation

to the position of a vehicle while thevehicle is driving past the parking

space.Having an ultrasound-based systemfor parking space measurment that

operates more precisely than the known

ultrasound-based systems,even whenpassing of the parking space at high speed

and given high depth of the parkingspace.And also width of the parking space

is determined with aid of a first ultrasonic

sensor having a first sensitivity,and depthof a parking space is determined with aid

of a second ultrasonic sensor having asecond sensitivity.In comparision of the

sensors sentivity,the sentivity of the firstultrasonic sensor is lower than thesentivity of the second ultrasonic sensor.This

provides getting higher accuracy in parking space measurement. Figure 10 shows the a vehiclepassing through the parking space with measurements.

Parking Assistance(Pub no:US 2007/0282504 A1 Pub date:Dec.6,2007 inventros:StefanLuke,Maxim Arbitman)

For a vehicle with parking assistance,this method in which autonomous driving or steering of thevehicle on a path for maneuvering into a parking space is make possible or a driver of the vehicle in

thi parking space steering of the torque is applied to the steering wheel.In this situation,the driver is

guided by at least one artificial steering stops,on the path for driving in the parking space.Andparking space is measured by a lateral distance measurement and the position is determined from

signals from wheel rpm sensors and a steering angle sensor.

figure10


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Parallel Parking Assistant System and Method Thereof(Pub No:US 2011/0251755 A1 PubDate:Oct.13,2011 inventors:Glenn R.Widmann)

A parallel parking assistant system has afirst sensor configured to determine a first

distance,a second sensor configured todetermine a second distance,and a

controller gives the commands according

the data distances come from them.Thecommands includes a first command

configured to a command for steeringsystem to be in a clockwise position while

the vehicle is moving in a reverse direction

for a first reversing distance,a secondcommand differ from first command

configure to the steering system to be in a

substanially straight position while thevehicle is moving in a reverse direction for

a second reversing distance and the thirdcommand configure to the steering system

to be in a counter-clockwise position whilethe vehicle is moving in a reverse diretion

for a third reversing distance.Figure11

shows the system working as a vehicle ismoving back.

Method and Apparatus forData Download from a MobileVehicle(Pub no:US 2009/0276589 A1Pub date:Nov.5,2009 inventor:DinkarMylaraswamy)

A method and apparatus are provided for

autonomous data download.The methodincludes the steps of navigating an

autonomous data download device andparking the autonomous data download

device adjacent to the first data storage

device.The method further includes thesteps of connecting the autonomous data

download device to the first data storage device and downloading data from the first data storage

figure11


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device to the autonomous data download device.The method thereafter includes the steps of

navigating the autonomous data download device to a location determined to be suitable fortransmission of the data and transmitting the data from the autonomous data download device to a

second data storage device after determining that the autonomous data download device has reached

the location determined to be suitable for transmission of the data.Figure shows the system workingdiagram.

Detection of Topological Structure from Sensor Data with Application to AutonomousDriving in Semi-Structured Environments(Pub no:US 2010/0274430 A1 Pub date:Oct.28,2010inventros:Dimitri A.Dolgov,Sebestian Thrun)

A method of creating an obstacle-free diagram using topological sensor data to form a graph

corresponding to a driving path,transforming the graph using discreate heuristics,locally smoothinga plurality of edges of the graph after the locally smoothing.Transforming includes deleting an edge

of the graph,merging two intersections of the graph into a single intersection,and collapsing a

plurality of edges forming a loop into a single edge.Locally smoothing includes smoothing a lanesegment of the graph by minimizing a sum of a function of distance.Globally smoothing includes

defining an intersection potential and minimizing a sum of the function of smoothness,the functionof distance,a function of intersections and a function of direction.

Parking Brake System(Pub No:US 2010/0294602 A1 Pub date:Nov.25,2010 inventors:MagnusGustafsson,Stefan Sand,Robble Cannon)

An electromechanically operable parking brake system is provided for motor vehicles as well as toa respective method of operation the system includes,but is not limited to a brake device that is

lockable by a brake module,a control unit that is electrically coupled to the brake module andfurther adapted to generate a first control signal for generating a first brake application force,and a

safaguard mechanism is adapted to generate a second control signal for applying a second brake

application force.The second brake application force is larger in magnitude than the first brakeapplication force.

Car Parking System(Pub no:4,167,365 Pub date:Sep 11,1979 inventor:Spiridon Constantinescu)A parking system for cars has a plurality of parking shelves disposed horizontally and vertically on

both sides of a central zone of vertical movement,one car being carried to and from the shelf by acarrier activated by its driving gear means to raise on vertical racks in the central zone and to

perform its lateral movement in the parking shelf at its parking level where a series of rams makethe racks discontinuous and from the shelves,on both sides,extensible rails extend their mobile parts

beneath the carrier when it is arrived at its parking level;the driving means of the carrier being:thecar itself,a motor of the carrier,or the car for the loaded carrier and the carrier's motor for theunloaded carrier;the unloaded carrier being stored either in a central basement or in parking shelves.

Automatic Car Parking System(Patent Number:5,116,182 Patent Date:May 26,1992inventor:Bao N.Lin)

An automatic car parking system comprised of a parking rack and at least one car lifting feeder.Theparking rack is divided into a plurality of parking spaces.The car lifting feeder has a pair of comb-

like wings for carrying a car into a pair of comb-like platforms which are made on each parkingspaces in the parking rack.

Method For Generating Electrical Power From Fuel Cell Powered Cars Parked in aConventional Parking Lot(Pub no:5,767,584 Pub date:Jun.16,1998 inventors:GeraldE.Gore,T.Rooman,Michael D.Gore)


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The present invention provides a method and apparatus for generating electrical power frommultiple vehicles powered by fuel cells while the vehicles are parked in a parking lot.A plurality of

spaced-apart electrical receptacles are provided for receiving an electric cable for connection to a

parked vehicle for electrically connecting the fuel cell in each of the parked vehicles to the pluralityof electrical receptacles.An electric power grid is electrically connected to the plurality of electrical

receptacles for transferring D.C. Electrical power from the fuel cells in the parked vehicles to theelectric power grid.At least one electric power collection station is electrically connected to the

electric power grid for collecting at a common point the D.C electric power in the electric power

grid.In addition,at least one inverter is electrically connected to the electric power collection stationfor converting the D.C electric power to A.C electric power.Apparatus is provided for supplying the

A.C electric power to a load or a utulity grid.

Visitor Parking System and Method(Pub no:US 2009/0070159 A1 Pub date:Mar.12,2009inventor:Martin James Cleland-Pottie)

A method of managing a visitor parking facility available to a plurality of users is described,the

visitor parking facility comprising:a plurality of visitor parking bays,and a barrier for controllingthe entry to and exit from the visitor parking facility available to a plurality of users comprising the

steps of registering a pluratliy of users,and storing user information;for each of the plurality of userslimiting the number of visitor parking bays the user can book;receiving a reques from a user to book

a vehicle parking bay for the requesting user if the request is a valid request;storing the booking;andcontrolling the barrier to allow entry to and exit from the facility for a vehicle having a booked

vehicle parking bay.The method also includes making statistical information on user usageof the

visitor parking facility available.

Car Parking Administration System(Pub No:US 2011/0227533 A1 Pub date:Sep.22,2011inventor:Gerhard Wolfien)

A car parking system for charging motor vehicles with electrical energy,with at least one charging

station which is capable of being-coupled electrically to a motor vehicle in order to charge a chargestorage unit of this motor vehicle,wherein this charging station has associated with it at least one

parking space for temporarily parking the motor vehicle to be charged.According to the inventionthe car parking system has at least one central processing unit which is separate from the charging

station and which communicates in terms of data with the charging station,wherein data

characteristic of the motor vehicle are capable of being transferred by way of a communication linkexisting at least temporariliy between the central processing unit and the charginf station.

Vehicle Position Determination System and Method(Patent no:5,390,125 Patentdate:Feb.14,1995 inventors:James W.Sennott,Adam j.Gudat,Dauglas W.Friedrich,DarrellE.Stafford)

Systems and methods allow for the accurate determination of the terrestrial position of an

autonomous vehicle in real time.A first position estimate of the vehicle is derived from sarellites of

a global positioning system and/or a pseudolite which may be used exclusively when the satellitiesare not in the view of the vehicle.A second position estimate is derived from an inertial referance

unit a vehicle odometer.The first and second position estimates are combined and filtered usingnovel techniques to derive a more accurate third position estimate of the vehicle's

position.Accordingly,accurate autonomous navigation of the vehicle can be effectuated using the

third position estimate.


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Semi-autonomous Parking Control System for a Vehicle Providing Tactile Feedback to aVehicle Operator(Patent number:5,742,141 Date of patent:Apr.21,1998 inventor:James L.Czekaj)

A semi-autonomous parking system calculates the current position as well as the desired trajectory

required to accomplish the parking task by utulizing vehicle position measurements.The parkingsystem alters the power steering's required effort to maneuver the vehicle thus providing tactile

feedback to the vehicle operator.The required effort is decreased when it is determined that theoperator is steering the vehicle within the desired trajectory and is increased when it is determined

that the operator is steering the vehicle outside the desired trajectory.The operator can feel increases

and decreases in steering effoet at the steering wheel.

Systems and Methods for Switching Between Autonomous and Manual Operation of aVehicle(Patent no:US 7,894,951 B2 Patent date:Feb.22,2011 inventors:William RobertNorris,James Allard,Mikhail O.Fillippov,Christopher David Glenn Turner,Seth Gillbertson)

Systems and methods for switching between autonomous and manual operation of a vehicle are

described in this invention.A mechanical control system can receive manual inputs from a

mechanical operation member to operate the vehicle in manual mode.An actuator can receiveautonomous control signals generated by a controller.When the actuator is engaged,it operates the

vehicle in an autonomous mode,and when disengaged,the vehicle is operated in manualmode.Operating the vehicle in an autonomous mode can include automatically controlling an

autonomous mode can include automatically controlling steering,braking,throttle,andtransmission.A system may also allow the vehicle to be operated via remote command.

Navigation Apparatus and Method of Detection that a Parking Facility is Sought(Patentno:Us 2011/0106426 A1 Pub date:May 5,2011 inventor:Simone Francine Tertoolen)

A navigation apparatus is disclosed including a location determination unit and aprocessing resource arranged to support,when in use,a user interface.In at least one embodiment,the

processing resource is operably coupled to the location determination unit in order to obtainlocation information therefrom.The processing resource is arranged to analyse the location

information and the user interface is arranged to generate a message offering assistance in relation

to finding a parking facility in response to the processing resource determining that a locationinformation characteristic associated with the location information is in accordance with a

predetermined criterion.

Camera System for Use in Vehicle Parking(Pub no:US2010/0283633A1 Pubdate:Nov.11,2010 inventors:Jan Becker,Socren Kammel,Benjamin Pitzer,Charles DuHadway)

A method for assisting in parallel parking includes providing a vehicle with a forward-looking

camera and a backward looking camera.The camera is used to capture an image of a parking area

including at least one unoccupied by other vehicles.A homography of the captured image iscreated.The homography is used to estimate an image of the parking area from an overhead

viewpoint.A portion of the overhead image including the unoccupied parking space is displayed ona display screen within a passenger compartment of the vehicle.


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Method to Adaptively Control Vehicle Operation Using Autonomic Vehicle Control(Pubno:US 2010/0082195 A1 Pub date:Apr.1,2010 inventors:Jin-Woo Lee,Bakhtiar Brian Litkouhi)

A vehicle includes a vehicle monitoring system for estimating vehicle motion states,a spatial

monitoring system,an adaptive cruise control system for vehicle speed and acceleration control,a

steering controller for vehicle lateral motion control,a roadway estimator and an autonomic controlsystem for parking.Commanded vehicle operation is adjusted to achieve a preferred travel path

based upon a predicted travel path and an estimated roadway.The preferred travel path is adaptedresponsive to the estimated roadway.

Method and Device for Parking Assistance for a Vehicle(Pub no:US 2011/0093168 A1 Pubdate:Apr.21,2011 inventors:Harald Barth ,Nicolas Jecker)

The invention relates to a method and a device for assisting a parking process of a vehicle into

parking space which is arranged transversely with respect to a carriageway.It is bounded on at leastone side by a lateral boundary,wherein the parking space is measured by means of a measuring

device,a parked position of the vehicle inside the parking space is defined by means of an evulation

device,and a parking path of the vehicle into the parked position is determined by means of theevulation device.In order to assist the parking process in very wide parking spaces,the parked

position is defined at a lateral distance from the centre longitudinal axis of the parking space by theevulation device at least when a predefined minumum width of the parking space is exceeded.

Motor-Vehicle Parking System(Patent no:5,469,676 Date of patent:Nov.28,1995inventor:Alfred Colsman)

The installation for the parking of motor vehicles has one or several autonomous parking

units,shapped as sectors of a circle on plan.Each such unit has its own mechanical conveyorsystem,comprising a car lift with a vertical guide located in the region of the apex of the sector,and

a cantilevered vehicle platform that pivots across the angle enclosed by the sector.Within the

parking unit the lift provides the vertical and horizantal transport of the vehicles between a drivein/out level and the parking spaces on parking levels below and for the radial transfer of

vehicles.Each parking unit also has its own means for turning vehicles in situ,one or severalturntables or rotary platforms at the drive level.A vehicle-standing area on each turntable or rotary

platform can be turned to a drive-in position and a drive-out position and can be aligned radially

with the vehicle platform of the lift.A computer-controlled installation of this type is very flexibleand readily adaptable to a wide range of operational situations.After being parked,the vehicles can

be driven out and leave the parking installation readily without is suitable not only for use inbuildings that are circular on plan,but also,always with similar units for other layouts to conform to

local circumstances.

Automated Vehicle Parking System(Patent number:5,414,624 Date of patent:May 9,1995inventror:Robert B.Anthonyson)

An automated vehicle parking system for a parking facility that communicates with a vehicleapproaching or leaving the facility with RF signals that identify the vehicle and sends the vehicle

idendification number ,time of day,and lane number to a central computer for calculating theparking cost based on rates for each individual vehicle in the computer.

Vehicle Parking Control System(Patent number:US 6,513,711 B1 Date of patent:Feb.4,2003inventor:Torbernt Hjelmvik)


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A parking control system in which a user sends a code to a receiving computer via a telephone

system when begining and terminating a parking period.A vehicle reference,such as a bar codecarried by the vehicle or the vehicle registration number,is used to identify the vehicle.Parking time

billing is effected by a credit card number coupled to the user.When checking a parked vehicle,a car

park attendant causes a control unit to read and store the vehicle reference for marked vehicles,andalso date and the time.The control unit memory contents are transmitted to the receiving computer

and are compared with vehicle parking information was received by telephone.A parking fine isissued for parked vehicles not having properly commenced a parking period.

Vehicle Parking System(Patent number:4,971,506 Date of patent: Nov.20,1990 inventor:IzhakGivati)

A parking system for automotive vehicles,comprises a building structure divided into a ground

parking level and at least two upper parking levels,each having a floor and a ceiling spaces

extending longitudinally of the respective level.The floor and ceiling of each level are spaced fromeach other a distance which is greater than twice the height of the vehicle to be parked in the

respective level,to define a lower zone of parking spaces for supporting the vehicles,and an upper

zone for conveying the vehicles to a selected parking space in the lower zone.

System and Method for Providing Vehicle Parking Information Using NavigationSatellite(Pub no:US 2009/0085773 A1 Pub Date:Apr.2,2009 inventors:Cheon-Sig Sin.Sang-UkLee,Jae-Hoon Kim)

Provided is a system and method for providing vehicle parking information using a navigation

satellite.The system includes;a monitoring unit for photographing an image of a vehicle parkingspace and transmitting the image to a parking space checking unit;the parking space checking unit

for a vacant parking space based on the transmitted vehicle parking space image and transmitting

vacant parking space acquisition information to a location information computing unit;and thelocation information computing unit for creating and transmitting location information of the vacant

parking space,which is vehicle parking information ,to a navigation satellite based on own locationinformation acquired based on navigation satellite and the transmitted vacant parking space

acquisition information.

Vehicle Parking Assistance System(Patent no:US 7,049,978 B2 Date of Patent:May 23,2006inventor:Xugang Li)

A vehicle parking system assists the operator of a vehicle with parking the vehicle in anenclosure having a side wall and a rear wall.First and second light sources as lasers are mounted ona fron most region of the vehicle for directing first and second light beams forward of the vehicle

and onto the rear wall.The first light beam makes an angle with the second light beams on the rearwall is substantially equal light beams on the rear wall is substantially equal to the distance between

the front most region of the vehicle and the rear wall.

Vehicle Detector and Vehicle Parking Management System(Pub no:US 2006/0136131 A1 Pubdate:Jun.22,2006 inventors:William P.Dugan,Mark R.Dee,Feisal A.Hurzook)

A detector assambly including a three-dimensional magnetic sensor adapted to detect presence of

a vehicle,a transceiver operatively coupled to the magnetic sensor and adapted to send and receiverinformation,a microprocessor operatively coupled to the magnetic sensor and the transceiver.The

detector assambly is part of a vehicle assamblies and a remote device operatively coupled to the


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plurality of sensor assemblies to exchange information with each of the plurality of sensor

assemblies.

As a conclusion,this article is an overview for the autonomous parking systems and its methods.

Some of invention uses ultrasonic sensors,cameras and other devices to get the data refers theposition or path and developing a method to reduce the error or noise.For more information or

details of the inventions shall be obtained from their patents.Each inventions pub no and Pub dateare given in the above.

Referances:[1][2]http://www.idsc.ethz.ch/Research_Guzzella/Automotive_Applications/Hybrid_Powertrains/archives

/Semi-Autonomous_Parking

[3]http://www.patentgenius.com/patent/8098174.html

[4]http://www.google.com/patents/about?id=4nrwAAAAEBAJ&dq=%22michael+hering%22&num=4&client=internal-uds&source=uds

[5]http://www.google.com/patents?id=ehG_AAAAEBAJ&printsec=frontcover&dq=Auto-

Parking+Device&hl=en&sa=X&ei=lRopT6nNCJGLhQe4wvm3BQ&ved=0CDIQ6AEwAA
http://www.idsc.ethz.ch/Research_Guzzella/Automotive_Applications/Hybrid_Powertrains/archives/Semi-Autonomous_Parkinghttp://www.idsc.ethz.ch/Research_Guzzella/Automotive_Applications/Hybrid_Powertrains/archives/Semi-Autonomous_Parkinghttp://www.idsc.ethz.ch/Research_Guzzella/Automotive_Applications/Hybrid_Powertrains/archives/Semi-Autonomous_Parkinghttp://www.idsc.ethz.ch/Research_Guzzella/Automotive_Applications/Hybrid_Powertrains/archives/Semi-Autonomous_Parking

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Autonomous Parking Systems