Technical Report 105

Semi-Autonomous Parking for

Enhanced Safety and Efficiency

Sriram Vishwanath
WNCG

June 2017
Data-Supported Transportation Operations & Planning Center
(D-STOP)
A Tier 1 USDOT University Transportation Center at The University of Texas at Austin

D-STOP is a collaborative initiative by researchers at the Center for Transportation

Research and the Wireless Networking and Communications Group at The University of
Texas at Austin.

DISCLAIMER
The contents of this report reflect the views of the authors, who are responsible for the facts and the
accuracy of the information presented herein. This document is disseminated under the sponsorship of
the U.S. Department of Transportation’s University Transportation Centers Program, in the interest of
information exchange. The U.S. Government assumes no liability for the contents or use thereof.
 Technical Report Documentation Page
1. Report No. 2. Government Accession No. 3. Recipient's Catalog No.
D-STOP/2017/105
4. Title and Subtitle 5. Report Date
Self-Parking for Semi-Autonomous Vehicles June 2017
6. Performing Organization Code

7. Author(s) 8. Performing Organization Report No.

Sriram Vishwanath Report 105
9. Performing Organization Name and Address 10. Work Unit No. (TRAIS)
Data-Supported Transportation Operations & Planning Center (D-
STOP)
11. Contract or Grant No.
The University of Texas at Austin DTRT13-G-UTC58
1616 Guadalupe Street, Suite 4.202
Austin, Texas 78701
12. Sponsoring Agency Name and Address 13. Type of Report and Period Covered
Data-Supported Transportation Operations & Planning Center (D-
STOP)
The University of Texas at Austin 14. Sponsoring Agency Code
1616 Guadalupe Street, Suite 4.202
Austin, Texas 78701
15. Supplementary Notes
Supported by a grant from the U.S. Department of Transportation, University Transportation Centers
Program.
Project title: Semi-Autonomous Parking for Enhanced Safety and Efficiency

16. Abstract
This project focuses on the use of tools from a combination of computer vision and localization based
navigation schemes to aid the process of efficient and safe parking of vehicles in high density parking
spaces. The principles of collision avoidance, simultaneous localization and mapping together with vision
based actuation in robotics will be used to enable this functionality.

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Disclaimer
The contents of this report reflect the views of the authors, who are responsible for the
facts and the accuracy of the information presented herein. Mention of trade names or
commercial products does not constitute endorsement or recommendation for use.

Acknowledgements
The authors recognize that support for this research was provided by a grant from the
U.S. Department of Transportation, University Transportation Centers.
Self-Parking for Semi-Autonomous
Vehicles
Objective
The objective of the self-parking project was to provide a testbed on which
individual self-parking techniques and algorithms for coordination could be
developed and tested. The overall project consisted of three main stages:

1. Self-parking capabilities of Proteus robots

2. Communication framework between robots for algorithm execution

3. Algorithm deployment for multiple robots in simulated parking lot

environment

Background: Pharos Robotic Platform

The Pharos testbed is composed of robots called Proteus III. Proteus III is a robot
designed for research that brings vehicular mobility/control and communications
together. What sets Proteus apart from most other robotic research platforms is
its modular architecture and development-friendly design. Proteus provides a
powerful base platform while allowing for the essential customization and
expansion of the robot for whatever specific research application it must serve. In
order to maintain simplicity and intuition with such diverse and dynamic
capabilities, great care has been taken in designing the robot.

A key feature of the Pharos testbed is the mobility capabilities of the Proteus III
robots. Mobility is exceedingly hard to model accurately, and thus testbeds are
invaluable in mobile network communications research. Theoretical bounds and
numerical simulations can provide insight into real-world behavior, but each of
these has their respective weaknesses. Particularly, when communication and
vehicular behavior become dependent on one another, it is near-impossible to
model every aspect of this interaction. Thus, a testbed is needed, both as a
mechanism to test new techniques and to provide feedback to the design process
of the impact of mobility on communication performance metrics. Pharos has
previously been used in several communication network scenarios including
network coding, delay tolerant networks, multi-robot patrol, and autonomous
intersections.
Proteus Control Interface
The Proteus III robots have a computational plane that consists of an x86
Computer (Via EPIA N800-10E) with a WiFi Network interface. The
computational plane runs ROS (Robot Operating System) which provides a
platform for control of each individual robot and coordination between multiple
robots. We briefly highlight the capabilities of the Proteus Control Interface
relevant to this work.

Mobility: The Proteus robots have mobility capabilities via a Traxxas Stampede
chassis controlled by an Arduino micro-controller. The Traxxas chassis gives the
Proteus robot robustness in outdoor environments and the motor provides a
range of speeds for different mobility scenarios.

Outdoor Navigation: One of the modalities of the Proteus robots allows us to

attach a GPS and compass module that provide the ability to navigate to
predetermined GPS locations. This capability provides the opportunity to create
interesting mobility scenarios with reliable repeatability and also generate a wide
range of spatial topologies.

Coordination: The ROS framework running on the robots provides the

infrastructure for wireless communication using the publication and subscription
of network-wide messages. Using the WiFi interface, the robots in a connected
network can exchange information about their current states and trigger actions
on other robots that are part of the same ROS core.

Self-Parking Capabilities of Proteus Robots

We worked on developing and adding a number of capabilities to the Proteus
robots to facilitate two components of self-parking: 1) getting to the spot and 2)
getting into the spot. The self-parking capabilities of the Proteus robots were all
developed as nodes on the ROS framework.

In order to get into the spot we worked on two different approaches

1. A visual approach using a webcam

2. A range approach using ultrasound range finders

Visual Approach
The visual approach uses a USB webcam to scan for a parking space. Once a
parking lot is detected, a path finding algorithm is used to select an efficient path
to navigate into a spot. The path finding algorithm developed within the lab is
described below:

The core of the pathfinder algorithm is A* modified to use a 3D map based on

the position and rotation of the vehicle combined with a window of valid
transitions between coordinates in the map.

The parameters for this algorithm include:

1 Resolution of the vehicles rotation.

2. Size of a single pixel in the specified map.

3. Turning radius of the vehicle.

4. Array containing dimensions of the vehicle. There is nothing limiting the

vehicle to a rectangular shape other than how this parameter is defined.

5. Size of window that is used to check valid

coordinate transitions.

A major problem within pathfinding is

boundary checking. To solve the problem of
boundary checking, a slight modification
was made to the traditional representation
of coordinates. An additional bit was added
in the highest position of the x and y values
that remains zero, along with the constraint
that both dimensions are bound to powers of
2. At first this seems like a significant waste
of space, however, images were already
being padded to fit to power of 2 boundaries
to speed up the Fourier transforms during
Figure 1
map generation, and Linux may lazily allocate pages, preventing the wasted bits
from using any memory at all.

Boundary checking can then be performed trivially. When aligned to a power of

2, going out of bounds will cause the relevant value to overflow and set the extra
bit to a 1. This allows all four map boundaries to be checked with a single
bitmask. It should be noted that the overflow may corrupt other fields in the
coordinate, but because the coordinate now represents an out of bounds value, it
should already be considered invalid.

Creating a heuristic that does not require extraction of fields required a more
complex arithmetic solution that takes advantage of the integer representation,
overflow bits, and an additional constraint that both dimensions are equivalent.

This algorithmic framework was developed by Chris Haster, a student in the

Lab. Overall, the appropriate path is then executed by publishing the appropriate
angle and speed commands while monitoring distance to the desired spot.

Further Details of the Visual Approach:

The visual approach uses a camera to scan for a parking space. Once a parking
lot is detected, a path finding algorithm is used to select an efficient path to
navigate into a spot. Finally, the pathfinding algorithm is executed by
publishing the appropriate angle and speed commands while monitoring
distance.

Searching for a spot: The first step using the visual approach is to look for a
parking space. In our case, we used a colored perimeter and a marker on the
floor to denote a parking space. Next, the robot finds a path using the current
location and the target location. We use a variation of the A* algorithm that is
able to find paths in a couple of seconds. Finally, after a path to follow has been
found, the node sends information to the semi-autonomous vehicle to execute
the desired movements.

NOTE: Further details of the visual approach can be found in the presentation
attached.

Figure 1 shows the configuration of the Proteus robot when using the Visual
Approach.
 Range Approach
The Range Approach uses ultrasound range finders to address situations where
more precision is required. In particular it prevents physical collisions with
other objects around the desired spot. The module developed for the range
approach identifies obstacles, edges, and empty spaces that are large enough to
park using the ultrasound range finder. Once space is identified, the robot turns
into the space at low speed while monitoring distance to obstacles around it.
The robot situates itself equidistant from obstacle at either side and stops 30 cm
away from front obstacle. The algorithmic framework here identifies obstacles,
edges, and empty spaces that are large enough to park using the ultrasound
range finder Once space is identified, the robot turns into the space at low speed
while monitoring distance to obstacles around it. Overall, the robot situates itself
equidistant from obstacle at either side and stops 30 cm away from front
obstacle.

The first step in the range approach is to find edges and the shape of the space
In this beginning phase, the robot is assumed to be perpendicular to the parking
spot, and so it must turn into the spot. Once the robot has entered the spot, it
slowly parks itself while avoiding collisions with neighboring obstacles
The robot parks by aligning itself equidistant to both sides, straightening, and
stopping 30 cm from the front obstacle.

NOTE: More details of the range approach

can be found in the presentation attached.

Figure 2 shows the configuration of the

Proteus robot when using the Range
Approach.

GPS/Compass Navigation
Both the Visual and Range Approaches
described above concentrated in getting the
robot into the parking spot. In order to get to
the parking spot, we equipped the Proteus

Figure 2 robots with GPS capabilities and a Compass

module to determine its directions. These
two ROS nodes, along with a third navigation node, allowed robots to know
their location in outdoor environments and navigate to a specific set of GPS
coordinates. The GPS node received updated GPS location every second and
had capabilities to publish its current location for use by other nodes. The
compass nodes constantly updated the nodes direction. The navigation nodes
used both the GPS and Compass nodes to create feedback loop of correction in
order to guide the robot to a desired location. We tested the GPS/Compass
navigation system in the top floor of UTA by directing the robots to different
GPS coordinates corresponding to different parking spots.

The code for these three ROS nodes can be found in:
• GPS: https://github.com/pesantacruz/utexas-ros-
pkg/tree/experimental/stacks/pharos/proteus3_gps_hydro
• Compass: https://github.com/pesantacruz/utexas-ros-
pkg/tree/experimental/stacks/pharos/proteus3_compass_hydro
• Navigation: https://github.com/pesantacruz/utexas-ros-
pkg/tree/experimental/stacks/pharos/proteus3_navigation

Communication Framework and Algorithm Deployment

The self-parking project concluded on the testing phase of the self-parking

capabilities. We were able to create communication between different robots by
using the Publish/Subscribe framework in ROS. In other works, when connected
in a WiFi ad hoc network, each robot had access to all published messages, by the
robot itself or by another robot. In particular in our case, we were able to publish
the GPS location and the Compass direction of each robots and that information
was available to all other robots in the network. See the messages:

• CompassMsg.msg defined in https://github.com/pesantacruz/utexas-ros-

pkg/blob/experimental/stacks/pharos/proteus3_compass_hydro/msg/Com
passMsg.msg
• GPSMsg.msg defined in https://github.com/pesantacruz/utexas-ros-
pkg/blob/experimental/stacks/pharos/proteus3_gps_hydro/msg/GPSMsg.
msg
Self-Parking Presentation
Self-parking Project

Pharos Lab
01/16/2015
 Project overview
• Large amounts of space is underutilized in parking
lots due to the need for navigation space

• Can we develop algorithms with expected arrival

and departure information to minimize the amount
of underutilized space?

• How does the problem change if we add the extra

constraint of putting electric cars in a restricted
number of charging parking spaces?
 Pharos Lab’s Role
• Provide testbed support for implementation of
developed algorithms

• Stages of involvement and requirements:

1. Self-parking capabilities for Proteus robots

2. Communication framework between robots for

algorithm execution

3. Algorithm deployment on network of robots in

simulated parking lot environment
 Pharos Lab’s Role
• Provide testbed support for implementation of
developed algorithms

• Stages of involvement and requirements:

1. Self-parking capabilities for Proteus robots

2. Communication framework between robots for

algorithm execution

3. Algorithm deployment on network of robots in

simulated parking lot environment
 Self-parking

• We are taking 2 different approaches

• Visual approach using webcam

• Rage approach using ultrasound range finders

 Visual approach
• The visual approach uses a
USB webcam to scan for a
parking space

• Once a parking lot is

detected, a path finding
algorithm is used to select an
efficient path to navigate into a
spot

• Path is executed by
publishing the appropriate
angle and speed commands
while monitoring distance
 Visual approach
• The visual approach uses a
USB webcam to scan for a
parking space

• Once a parking lot is

detected, a path finding
algorithm is used to select an
efficient path to navigate into a
spot

• Path is executed by Main Sensor - Camera

publishing the appropriate Logitech Webcam Pro 9000 720p
angle and speed commands
while monitoring distance
 Visual Approach

• Searching for a spot

• The first step using the

visual approach is to look
for a parking space

• In our case, we used a

green perimeter and a
pink marker on the floor to
denote a parking space
 Visual Approach

• Searching for a spot

• The first step using the

visual approach is to look Identify colors to find
for a parking space

• In our case, we used a

green perimeter and a
pink marker on the floor to
denote a parking space

Create map of spot location

 Visual Approach

• Find a path

• Next, the robot finds a path

Use modified A* algorithm to find a path
using the current location
and the target location

• We use a variation of the

A* algorithm that is able to
find paths in a couple of
seconds

A* modification
 Visual Approach
• Execute path

• Finally, after a path to follow

has been found, the node
sends information to the
Traxxas node to execute the
movements

• The node sends a series

of speed and steering
commands

Publish speed and steering

 Range approach
• Identifies obstacles, edges,
and empty spaces that are
large enough to park using the
ultrasound range finder

• Once space is identified, the

robot turns into the space at
low speed while monitoring
distance to obstacles around it

• Robot situates itself

equidistant from obstacle at
either side and stops 30 cm
away from front obstacle
 Range approach
• Identifies obstacles, edges,
and empty spaces that are
large enough to park using the
ultrasound range finder

• Once space is identified, the

robot turns into the space at
low speed while monitoring
distance to obstacles around it Main Sensor - Ultrasound Range Finder
Devantech Ultrasound Range Finder SRF-08

• Robot situates itself

equidistant from obstacle at
either side and stops 30 cm
away from front obstacle
 Range approach

• The first step in the range

approach is to find edges and
the shape of the space

• In this beginning phase, the

robot is assumed to be
perpendicular to the parking
spot, and so it must turn into
the spot
 Range approach

• The first step in the range

approach is to find edges and
the shape of the space

• In this beginning phase, the

robot is assumed to be
perpendicular to the parking
spot, and so it must turn into
the spot Robot turning into a parking spot
 Range approach
• Once the robot has entered
the spot, it slowly parks itself
while avoiding collisions with
neighboring obstacles

• The robot parks by aligning

itself equidistant to both
sides, straightening, and
stopping 30 cm from the
front obstacle
Parking phase of range approach
 Range approach
• Once the robot has entered
the spot, it slowly parks itself
while avoiding collisions with
neighboring obstacles

• The robot parks by aligning

itself equidistant to both
sides, straightening, and
stopping 30 cm from the
front obstacle
 Next Steps
• We want to combine the strengths of each of the approaches

• Visual approach gives us more flexibility of starting point,

but because of computational complexity, it is more costly
to update often

• Range approach presents more constraints in terms of

starting conditions, but once the conditions are satisfied, it
can update its current status in real time making it more
reliable

• We will use visual approach to find and get to a parking spot,

while the range approach will be used to enter into the spot
 Next Steps
• Continue on the next steps of the overall project

• Stages of involvement and requirements:

1. Self-parking capabilities for Proteus robots

Next 2. Communication framework between robots for

algorithm execution

3. Algorithm deployment on network of robots in

simulated parking lot environment