Street parking for cars

Parallel parking is a difficult manoeuvre for drivers. The aim of this research was to develop a system to perform this manoeuvre autonomously requiring no driver input at all.The stages of this development were analysis of the kinematics of vehicles the design of a simulator and prototype robot to demonstrate parking and the development of parking algorithms to achieve reverse-parallel parking at or above the standard of the learner drivers' logbook.Equations were derived to describe the motion of a vehicle. These were tested in a flexible Matlab simulation.A remote control car was modified to be controlled via command line inputs or uploaded control law. A complete and successful set of laws has been documented and used to demonstrate the prototype robot in a parking scenario.The final algorithms were able to successfully park the vehicle utilising only an ultrasonic sensor and encoders on the rear wheels. Calculations and parking are performed in real-time taking substantially less time than a human driver would. This was only possible due to development of a highly optimised transform to analyse the sensor data.