Developing an Autonomous Valet Parking System in Simulated Environment

One of the many scenarios associated with self-driving cars is related to automatic parking assistance systems. In our research, we implemented an Autonomous Valet Parking System and built a simulated, dynamically changing environment to test the method. This paper presents the three main parts of the system namely Parking Space Detection using ultrasonic sensors and LIDARs, Path Planning, which is achieved with Hybrid A* and RTR+CCRS planners, and Dynamic Object Detection employing neural networks and image segmentation on the output of an RGB-D camera.