무인 자율주차 시스템 구현을 위한 기반기술 연구

As an autonomous driving technology is the future of on-road driving, an unmanned valet parking system is one of a key technology to realize door to door autonomous vehicle. When an autonomous vehicle arrive its destination, the driver steps out of the car and pushes button on the smart phone, and then the vehicle autonomously parking in without any anxiety of user. Similarly, the vehicle gets out from the parking lot at right time and right position for user. We mainly focused on a vehicle actuator control, path following control for parking slot detection, parking maneuver control with shift-by-wire system, and smart phone interface between the user and vehicle. As the localization technology of a vehicle at the indoor or outdoor parking areas is most important and difficult problem, we applied precise position information from the DGPS for preliminary implementation of the system.