Design and Implementation of a Small-scale Autonomous Vehicle for Autonomous Parking

In this paper, we introduce the design and implementation of a low-cost, small-scale autonomous vehicle equipped with an on-board computer, a camera, a Lidar, and some other accessories. We implement various autonomous driving-related modules including mapping and localization, object detection, obstacle avoidance, and path planning. In order to better test the system, we focus on the autonomous parking scenario. In this scenario, the vehicle is able to move from an appointed start point to a desired parking lot autonomously by following a path planned by the hybrid A* algorithm. The vehicle is able to detect objects and avoid obstacles on its path, and achieve autonomous parking.