Scanning laser radar-based target position designation for parking aid system

Ho Gi Jung, Young Ha Cho, Pal Joo Yoon, Jaihie Kim

Research output: Contribution to journalArticlepeer-review

88 Citations (Scopus)


Recently, customers have shown a growing interest in parking aid products. A parking aid system consists of target position designation, path planning, and parking guidance by user interface or path tracking by active steering. For target position designation, various sensors and signal processing technologies have been tried. In the case of parallel parking, an ultrasonic sensor-based method plays a dominant role. In the case of perpendicular parking, a graphical user interface (GUI)-based method and a parking slot marking-based method have been commercialized. However, methods developed for the recognition of free parking space between vehicles have their respective drawbacks. This paper proposes a method for the recognition of free parking space between vehicles using scanning laser radar. This proposed method consists of range data preprocessing, corner detection, and target parking position designation. The authors developed a novel corner-detection method consisting of rectangular corner detection and round corner detection. The newly developed corner detection is unaffected by cluster orientation and the range data interval and is robust to noise. Experimental results showed that even in situations where other methods failed, the proposed scanning laser radar-based method could designate target parking position to viable free parking space. The recognition rate was 98.21%, and the average processing time was about 600 ms. Finally, it is argued that the proposed method will eventually be a practical solution because of the decreasing price of scanning laser radar and multiple-function integration strategies.

Original languageEnglish
Article number4524998
Pages (from-to)406-424
Number of pages19
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number3
Publication statusPublished - 2008 Sep

All Science Journal Classification (ASJC) codes

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications


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