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Automatic or Autonomous Parking Systems

In recently years,vehicle's has more sensors in modern technology.These technology helps the driver in critical traffic situations.For example,in parallel parking,having distance sensors or cameras get the data and process it by a microcontroller. In parallel parking,drivers face to difficult situations as expensive damage and loss the time. In figure 1 shows a car parallel parking.There are lots of possible space shape to park the car.Sensors are used to help the driver in semiautonomous systems. In semi-autonomous systems,an automatic assistant which can take care of the path planning and steer the vehicle along an optimal path could avoid such situations.[1]An automatic assistant requires an enviroment map includes algorithm of the space area, which is created by the sensors may operate on ultrasonic or radar waves or optical techniques like laser scanning or the analysis of camera information.Using data depands on the driver in this concept. In figure 2 shows a car which has sensitive areas of bumper mounted ultra-sonic sensors.



Quated[2] from a company which is experinced at this issue; therefore aim to use a closed loop structure which can find an optimal steering command in realtime for every vehicle speed and position. The parking bay environment is transformed into a navigation field, containing suitable vehicle orientations for the whole configuration space. Given such a field, a controller can continuously reorient the vehicle such that it follows the field towards a goal configuration inside a parking bay.Though the design of such a field as well as the developement of an orientation control law are challanging tasks, the method has several advantages: satisfies actuator constraints handels a priori unknown and high speed reacts on dynamic environment variations allows for assisted iterations into small parking bays generates smooth and comfortable motions

Simulation 1: environment variation: bay is 1.5 m shorter than estimated

Simulation 2: slow enough into a large parking bay

Simulation 3: same arrangement as in Simulation 2 but due to excessive speed, the goal position has to be adjusted In autonomous parking systems,sensors get the position as data actually is not geometrically right angle,curve makes error in the system.There are several methods to minimize the error . Implementation is changed company to company.Using pattent of the firms is helpier here. .

First of all,lets look at USpatent is Parking Assistance system (Patent no:US6,999,003 B2 Patent date: Feb 14,2006 inventors Norifumi Matsukawa,Yoshihisa Sato,Koji Kato) Method is ,a first distance measuring unit is included with for measuring a distance from a side of the subject vehicle to a parked vehicle based on a time period from when transmitting a signal that is transmitted from the side with directionality to when receiving a reflected signal.A second distantance measuring unit is included for measuring an advance distance in an advance direction of the subject vehicle.Then centered position X1min and X2min are applied.Figure 3 shows X1,X2,Xpos and numbers corresponds the different sensors. Figure 5 shows how ECU works with these sensors and devices.Left hand side of the figure,there are several figure3 different sensors get the data to ECU for controlling,right hand side of the figure,there are several devices to use information came from ECU to be controlled. The implemention is simple by figure 4. Computing Xmins then computing WL refers available in figure 3 too car's width.Then we have numerical methods applications as centered position to the best results and final target point what we have.

Figure 4

figure 5

Another patent is Feasible Region Determination for Autonomous Parking ( Pub no:US2010/0271236 A1 Pub.date:Oct 28,2010 using same parking method is embodiment,additionally as strategy is one cycle,the other one is two cycle to designed region which is determined.An embodiment contemplates a method of initiating a parking maneuver for parallel parking a vehicle between a first object and a second object.Position is determined by mid-point method in relaxion.Driver is signalled by these data to park more safely. In figue 6 from patent shows the a block diagram of autonomous parallel parking system based on an embodiment .[3]

The other patent is Method for Operating a Parking AID System(Pub no:US 2010/0332078 A1 Pub date:Dec 30,2010 inventors:Michael Hering,Torsten Reiner,Benno Albrecht) In a method for operating a parking aid system for a vehicle having a plurality of distance sensors each sensing the near range of the vehicle,and having at least one path sensor sensing a path travelled by the vehicle.The distance sensors are available in first mode which get the measuremential space,and distance sensor s are availabe in least one further mode is used avoid collisions.These sensors could be called modes are controlled by a switch activated at different transmit sequences which is as a function of the movement of the vehicle. An essential basic idea of the the invention is that the two measuring modes no longer differ by different sensor characteristic curves,which must be loaded in alternation at a loss in time and thus with a reduction of the achievable of the measurements of all distantance sensors used in the particular measuring mode,each of the measuremential curve remain constant.[4] Advantage of the invention is ,this switching between the two measuring modes does not cause any loss in time.Also switching as a functional movement does not require any prior deactivation of the respective other function.

Using image processing due to capturing position pictures by a camera.Lets look at AutoParking Device(Pub no:US 2009/0085771 A1,Pub date: Apr 2,2009.Inventors:Jui Hung Wu,JingFu Liu,Wang-Shuan Lee) As an abstractof the patent,an auto-parking device installed on a vehicle comprises a vehicle status sensing unit for detecting a state of a vehicle ,an image acquistion unit for capturing vehicle outside image,a range sensing unit for measuring the space,a processing unit for receiving states of the vehicle from the vehicle status sensing unit,receiving enviromental states from the image acquistion unit and range sensing unit,calculating parking path based on parallel parking or back-in parking controlling the device steering,throttle and brake via a driving contrul unit to automatically park the car into the space as per the planned parking path.[5] Figure 7 shows the inventions working process.

figure 7

Autonomous Parking Strategy Based on Available Parking Space(Patent No:US8,056,667 B2 Patent Date:Nov,15,2011,inventors:Nikolai K.Moshchuk,Shih-Ken Chen) A method controls a parallel parking of a vehicle.A distance between the first object and the second object is remotely sensed.These predetermined distances are compared each other.If the distance is greater than the first predetermined distantance,an autonomous first steering strategy maneuver is performed for parking the vehicle between the first object and second object.The first steering strategy maneuver consists of a first predetermined number of streering cycles for parking the vehicle.If the distantance is between the first predetermined figure8

distantance and second predetermined distance,an autonomous second steering strategy maneuver is performed for parking the vehicle between the first and second object.The second steering strategy manuever consists of a second predetermined number of steering cycles for parking too but second is greater than the first predetermined number of steering cycles.The figure 8 shows the system general working as a diagram. Autonomous Parking strategy of the Vehicle with Rear Steer(Pub no:US 2011/0087405 A1 Pub date: Apr.14,2011 inventors: Nikolai K.Moshchuk,Shih-Ken Chen) When the vehicle is parked parallelly between a first object and a second object in response to an available parking distance there.The vehicle includes front streerable wheels and rear streerable wheels.A distantance between the first and second object is sensed remotely and determining whether one or two cycle parking strategy.An autonomous one cycle strategy includes pivoting the front and rear steerable wheels in respective directions for steering the vehicle in a first reverse arcuate path of the travel and cooperatively pivoting the steerable wheels in a counter direction for steering the vehicle in a second reverse arcuate path to a final park position.And also two parking cycle strategy consist of one cycle performing maneuver and changing a transmission gear to a drive gear and pivoting the front and rear steerable wheels in the first direction for moving the vehicle to a final destination.Figure 9 shows the system working as a diagram. figure9 Object Classification method,Parking Assistance Method,and Parking Assistance system(Pub no:US2010/0302069 Pub date:Dec.2,2010 inventors:Michael Frank,Petko Faber) An object classification method in which a vehicle moves is operated in this invention.Assertaining a first characteristic quantity from the variations of a first signal received by a distantance measuring sensor.And assertaining an additional characteristic quantity from the variations of a second signal received by the distantance measuring sensor.These two assertaining sensors

outputs are asserted in another third sensor.This result is used another sensor as predictive result.Then comparing additional characteristic quantity and predictive quantity then generating an object classification signal.This method is used in autonomous parking systems to classify the objects which are around of the vehicle. Path planing for Autonomous Parking(Pub No:US2010/0204866 A1,Pub date:Aug.12,2010 inventors Nikolai K.Moshchuk,Shih-Ken Chen) This method is supported for determining a vehicle path for autonomously parallel parking to a vehicle in a space between two objects.A distantance is rometely sensed between two object.A determination is made whether the distantance is sufficient.A first position to initiate a parallel parking maneuver is determined.A second position with the available parking space corresponding to an end position of the vehicle path is determined.A first arc shapped trajectory of the travel is determined between the first position and an intermediate position.A second arc shaped trajectory of the travel as same way determined.The first arc shaped trajectory is complementary to the second arc shaped trajectory for forming a clothoid which provides a smoothed rearward steering manuever between the first position to the second position.This method is a solution to get a path planing at autonomous parking due to curve or arc geometrics shape. Method and Device for Determining the size and Position of a Parking space(Pub no:US 7,492,282 B2 Pub date:Feb.17,2009 inventors:Christian Danz,Michael Seiter) This method and device provides for determining the size and position of a parking space in relation to the position of a vehicle while the vehicle is driving past the parking space.Having an ultrasound-based system for parking space measurment that operates more precisely than the known ultrasound-based systems,even when passing of the parking space at high speed and given high depth of the parking space.And also width of the parking space is determined with aid of a first ultrasonic sensor having a first sensitivity,and depth of a parking space is determined with aid of a second ultrasonic sensor having a second sensitivity.In comparision of the sensors sentivity,the sentivity of the first figure10 ultrasonic sensor is lower than the sentivity of the second ultrasonic sensor.This provides getting higher accuracy in parking space measurement. Figure 10 shows the a vehicle passing through the parking space with measurements. Parking Assistance(Pub no:US 2007/0282504 A1 Pub date:Dec.6,2007 inventros:Stefan Luke,Maxim Arbitman) For a vehicle with parking assistance,this method in which autonomous driving or steering of the vehicle on a path for maneuvering into a parking space is make possible or a driver of the vehicle in thi parking space steering of the torque is applied to the steering wheel.In this situation,the driver is guided by at least one artificial steering stops,on the path for driving in the parking space.And parking space is measured by a lateral distance measurement and the position is determined from signals from wheel rpm sensors and a steering angle sensor.

Parallel Parking Assistant System and Method Thereof(Pub No:US 2011/0251755 A1 Pub Date:Oct.13,2011 inventors:Glenn R.Widmann) A parallel parking assistant system has a first sensor configured to determine a first distance,a second sensor configured to determine a second distance,and a controller gives the commands according the data distances come from them.The commands includes a first command configured to a command for steering system to be in a clockwise position while the vehicle is moving in a reverse direction for a first reversing distance,a second command differ from first command configure to the steering system to be in a substanially straight position while the vehicle is moving in a reverse direction for a second reversing distance and the third command configure to the steering system to be in a counter-clockwise position while the vehicle is moving in a reverse diretion for a third reversing distance.Figure11 shows the system working as a vehicle is moving back.


Method and Apparatus for Data Download from a Mobile Vehicle(Pub no:US 2009/0276589 A1 Pub date:Nov.5,2009 inventor:Dinkar Mylaraswamy) A method and apparatus are provided for autonomous data download.The method includes the steps of navigating an autonomous data download device and parking the autonomous data download device adjacent to the first data storage device.The method further includes the steps of connecting the autonomous data download device to the first data storage device and downloading data from the first data storage

device to the autonomous data download device.The method thereafter includes the steps of navigating the autonomous data download device to a location determined to be suitable for transmission of the data and transmitting the data from the autonomous data download device to a second data storage device after determining that the autonomous data download device has reached the location determined to be suitable for transmission of the data.Figure shows the system working diagram.

Detection of Topological Structure from Sensor Data with Application to Autonomous Driving in Semi-Structured Environments(Pub no:US 2010/0274430 A1 Pub date:Oct.28,2010 inventros:Dimitri A.Dolgov,Sebestian Thrun) A method of creating an obstacle-free diagram using topological sensor data to form a graph corresponding to a driving path,transforming the graph using discreate heuristics,locally smoothing a plurality of edges of the graph after the locally smoothing.Transforming includes deleting an edge of the graph,merging two intersections of the graph into a single intersection,and collapsing a plurality of edges forming a loop into a single edge.Locally smoothing includes smoothing a lane segment of the graph by minimizing a sum of a function of distance.Globally smoothing includes defining an intersection potential and minimizing a sum of the function of smoothness,the function of distance,a function of intersections and a function of direction. Parking Brake System(Pub No:US 2010/0294602 A1 Pub date:Nov.25,2010 inventors:Magnus Gustafsson,Stefan Sand,Robble Cannon) An electromechanically operable parking brake system is provided for motor vehicles as well as to a respective method of operation the system includes,but is not limited to a brake device that is lockable by a brake module,a control unit that is electrically coupled to the brake module and further adapted to generate a first control signal for generating a first brake application force,and a safaguard mechanism is adapted to generate a second control signal for applying a second brake application force.The second brake application force is larger in magnitude than the first brake application force. Car Parking System(Pub no:4,167,365 Pub date:Sep 11,1979 inventor:Spiridon Constantinescu) A parking system for cars has a plurality of parking shelves disposed horizontally and vertically on both sides of a central zone of vertical movement,one car being carried to and from the shelf by a carrier activated by its driving gear means to raise on vertical racks in the central zone and to perform its lateral movement in the parking shelf at its parking level where a series of rams make the racks discontinuous and from the shelves,on both sides,extensible rails extend their mobile parts beneath the carrier when it is arrived at its parking level;the driving means of the carrier being:the car itself,a motor of the carrier,or the car for the loaded carrier and the carrier's motor for the unloaded carrier;the unloaded carrier being stored either in a central basement or in parking shelves. Automatic Car Parking System(Patent Number:5,116,182 Patent Date:May 26,1992 inventor:Bao N.Lin) An automatic car parking system comprised of a parking rack and at least one car lifting feeder.The parking rack is divided into a plurality of parking spaces.The car lifting feeder has a pair of comblike wings for carrying a car into a pair of comb-like platforms which are made on each parking spaces in the parking rack. Method For Generating Electrical Power From Fuel Cell Powered Cars Parked in a Conventional Parking Lot(Pub no:5,767,584 Pub date:Jun.16,1998 inventors:Gerald E.Gore,T.Rooman,Michael D.Gore)

The present invention provides a method and apparatus for generating electrical power from multiple vehicles powered by fuel cells while the vehicles are parked in a parking lot.A plurality of spaced-apart electrical receptacles are provided for receiving an electric cable for connection to a parked vehicle for electrically connecting the fuel cell in each of the parked vehicles to the plurality of electrical receptacles.An electric power grid is electrically connected to the plurality of electrical receptacles for transferring D.C. Electrical power from the fuel cells in the parked vehicles to the electric power grid.At least one electric power collection station is electrically connected to the electric power grid for collecting at a common point the D.C electric power in the electric power grid.In addition,at least one inverter is electrically connected to the electric power collection station for converting the D.C electric power to A.C electric power.Apparatus is provided for supplying the A.C electric power to a load or a utulity grid. Visitor Parking System and Method(Pub no:US 2009/0070159 A1 Pub date:Mar.12,2009 inventor:Martin James Cleland-Pottie) A method of managing a visitor parking facility available to a plurality of users is described,the visitor parking facility comprising:a plurality of visitor parking bays,and a barrier for controlling the entry to and exit from the visitor parking facility available to a plurality of users comprising the steps of registering a pluratliy of users,and storing user information;for each of the plurality of users limiting the number of visitor parking bays the user can book;receiving a reques from a user to book a vehicle parking bay for the requesting user if the request is a valid request;storing the booking;and controlling the barrier to allow entry to and exit from the facility for a vehicle having a booked vehicle parking bay.The method also includes making statistical information on user usageof the visitor parking facility available. Car Parking Administration System(Pub No:US 2011/0227533 A1 Pub date:Sep.22,2011 inventor:Gerhard Wolfien) A car parking system for charging motor vehicles with electrical energy,with at least one charging station which is capable of being-coupled electrically to a motor vehicle in order to charge a charge storage unit of this motor vehicle,wherein this charging station has associated with it at least one parking space for temporarily parking the motor vehicle to be charged.According to the invention the car parking system has at least one central processing unit which is separate from the charging station and which communicates in terms of data with the charging station,wherein data characteristic of the motor vehicle are capable of being transferred by way of a communication link existing at least temporariliy between the central processing unit and the charginf station. Vehicle Position Determination System and Method(Patent no:5,390,125 Patent date:Feb.14,1995 inventors:James W.Sennott,Adam j.Gudat,Dauglas W.Friedrich,Darrell E.Stafford) Systems and methods allow for the accurate determination of the terrestrial position of an autonomous vehicle in real time.A first position estimate of the vehicle is derived from sarellites of a global positioning system and/or a pseudolite which may be used exclusively when the satellities are not in the view of the vehicle.A second position estimate is derived from an inertial referance unit a vehicle odometer.The first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position.Accordingly,accurate autonomous navigation of the vehicle can be effectuated using the third position estimate.

Semi-autonomous Parking Control System for a Vehicle Providing Tactile Feedback to a Vehicle Operator(Patent number:5,742,141 Date of patent:Apr.21,1998 inventor:James L.Czekaj) A semi-autonomous parking system calculates the current position as well as the desired trajectory required to accomplish the parking task by utulizing vehicle position measurements.The parking system alters the power steering's required effort to maneuver the vehicle thus providing tactile feedback to the vehicle operator.The required effort is decreased when it is determined that the operator is steering the vehicle within the desired trajectory and is increased when it is determined that the operator is steering the vehicle outside the desired trajectory.The operator can feel increases and decreases in steering effoet at the steering wheel. Systems and Methods for Switching Between Autonomous and Manual Operation of a Vehicle(Patent no:US 7,894,951 B2 Patent date:Feb.22,2011 inventors:William Robert Norris,James Allard,Mikhail O.Fillippov,Christopher David Glenn Turner,Seth Gillbertson) Systems and methods for switching between autonomous and manual operation of a vehicle are described in this invention.A mechanical control system can receive manual inputs from a mechanical operation member to operate the vehicle in manual mode.An actuator can receive autonomous control signals generated by a controller.When the actuator is engaged,it operates the vehicle in an autonomous mode,and when disengaged,the vehicle is operated in manual mode.Operating the vehicle in an autonomous mode can include automatically controlling an autonomous mode can include automatically controlling steering,braking,throttle,and transmission.A system may also allow the vehicle to be operated via remote command. Navigation Apparatus and Method of Detection that a Parking Facility is Sought(Patent no:Us 2011/0106426 A1 Pub date:May 5,2011 inventor:Simone Francine Tertoolen) A navigation apparatus is disclosed including a location determination unit and a processing resource arranged to support,when in use,a user interface.In at least one embodiment,the processing resource is operably coupled to the location determination unit in order to obtain location information therefrom.The processing resource is arranged to analyse the location information and the user interface is arranged to generate a message offering assistance in relation to finding a parking facility in response to the processing resource determining that a location information characteristic associated with the location information is in accordance with a predetermined criterion. Camera System for Use in Vehicle Parking(Pub no:US2010/0283633A1 Pub date:Nov.11,2010 inventors:Jan Becker,Socren Kammel,Benjamin Pitzer,Charles DuHadway) A method for assisting in parallel parking includes providing a vehicle with a forward-looking camera and a backward looking camera.The camera is used to capture an image of a parking area including at least one unoccupied by other vehicles.A homography of the captured image is created.The homography is used to estimate an image of the parking area from an overhead viewpoint.A portion of the overhead image including the unoccupied parking space is displayed on a display screen within a passenger compartment of the vehicle.

Method to Adaptively Control Vehicle Operation Using Autonomic Vehicle Control(Pub no:US 2010/0082195 A1 Pub date:Apr.1,2010 inventors:Jin-Woo Lee,Bakhtiar Brian Litkouhi) A vehicle includes a vehicle monitoring system for estimating vehicle motion states,a spatial monitoring system,an adaptive cruise control system for vehicle speed and acceleration control,a steering controller for vehicle lateral motion control,a roadway estimator and an autonomic control system for parking.Commanded vehicle operation is adjusted to achieve a preferred travel path based upon a predicted travel path and an estimated roadway.The preferred travel path is adapted responsive to the estimated roadway. Method and Device for Parking Assistance for a Vehicle(Pub no:US 2011/0093168 A1 Pub date:Apr.21,2011 inventors:Harald Barth ,Nicolas Jecker) The invention relates to a method and a device for assisting a parking process of a vehicle into parking space which is arranged transversely with respect to a carriageway.It is bounded on at least one side by a lateral boundary,wherein the parking space is measured by means of a measuring device,a parked position of the vehicle inside the parking space is defined by means of an evulation device,and a parking path of the vehicle into the parked position is determined by means of the evulation device.In order to assist the parking process in very wide parking spaces,the parked position is defined at a lateral distance from the centre longitudinal axis of the parking space by the evulation device at least when a predefined minumum width of the parking space is exceeded. Motor-Vehicle Parking System(Patent no:5,469,676 Date of patent:Nov.28,1995 inventor:Alfred Colsman) The installation for the parking of motor vehicles has one or several autonomous parking units,shapped as sectors of a circle on plan.Each such unit has its own mechanical conveyor system,comprising a car lift with a vertical guide located in the region of the apex of the sector,and a cantilevered vehicle platform that pivots across the angle enclosed by the sector.Within the parking unit the lift provides the vertical and horizantal transport of the vehicles between a drive in/out level and the parking spaces on parking levels below and for the radial transfer of vehicles.Each parking unit also has its own means for turning vehicles in situ,one or several turntables or rotary platforms at the drive level.A vehicle-standing area on each turntable or rotary platform can be turned to a drive-in position and a drive-out position and can be aligned radially with the vehicle platform of the lift.A computer-controlled installation of this type is very flexible and readily adaptable to a wide range of operational situations.After being parked,the vehicles can be driven out and leave the parking installation readily without is suitable not only for use in buildings that are circular on plan,but also,always with similar units for other layouts to conform to local circumstances. Automated Vehicle Parking System(Patent number:5,414,624 Date of patent:May 9,1995 inventror:Robert B.Anthonyson) An automated vehicle parking system for a parking facility that communicates with a vehicle approaching or leaving the facility with RF signals that identify the vehicle and sends the vehicle idendification number ,time of day,and lane number to a central computer for calculating the parking cost based on rates for each individual vehicle in the computer. Vehicle Parking Control System(Patent number:US 6,513,711 B1 Date of patent:Feb.4,2003 inventor:Torbernt Hjelmvik)

A parking control system in which a user sends a code to a receiving computer via a telephone system when begining and terminating a parking period.A vehicle reference,such as a bar code carried by the vehicle or the vehicle registration number,is used to identify the vehicle.Parking time billing is effected by a credit card number coupled to the user.When checking a parked vehicle,a car park attendant causes a control unit to read and store the vehicle reference for marked vehicles,and also date and the time.The control unit memory contents are transmitted to the receiving computer and are compared with vehicle parking information was received by telephone.A parking fine is issued for parked vehicles not having properly commenced a parking period. Vehicle Parking System(Patent number:4,971,506 Date of patent: Nov.20,1990 inventor:Izhak Givati) A parking system for automotive vehicles,comprises a building structure divided into a ground parking level and at least two upper parking levels,each having a floor and a ceiling spaces extending longitudinally of the respective level.The floor and ceiling of each level are spaced from each other a distance which is greater than twice the height of the vehicle to be parked in the respective level,to define a lower zone of parking spaces for supporting the vehicles,and an upper zone for conveying the vehicles to a selected parking space in the lower zone. System and Method for Providing Vehicle Parking Information Using Navigation Satellite(Pub no:US 2009/0085773 A1 Pub Date:Apr.2,2009 inventors:Cheon-Sig Sin.Sang-Uk Lee,Jae-Hoon Kim) Provided is a system and method for providing vehicle parking information using a navigation satellite.The system includes;a monitoring unit for photographing an image of a vehicle parking space and transmitting the image to a parking space checking unit;the parking space checking unit for a vacant parking space based on the transmitted vehicle parking space image and transmitting vacant parking space acquisition information to a location information computing unit;and the location information computing unit for creating and transmitting location information of the vacant parking space,which is vehicle parking information ,to a navigation satellite based on own location information acquired based on navigation satellite and the transmitted vacant parking space acquisition information. Vehicle Parking Assistance System(Patent no:US 7,049,978 B2 Date of Patent:May 23,2006 inventor:Xugang Li) A vehicle parking system assists the operator of a vehicle with parking the vehicle in an enclosure having a side wall and a rear wall.First and second light sources as lasers are mounted on a fron most region of the vehicle for directing first and second light beams forward of the vehicle and onto the rear wall.The first light beam makes an angle with the second light beams on the rear wall is substantially equal light beams on the rear wall is substantially equal to the distance between the front most region of the vehicle and the rear wall. Vehicle Detector and Vehicle Parking Management System(Pub no:US 2006/0136131 A1 Pub date:Jun.22,2006 inventors:William P.Dugan,Mark R.Dee,Feisal A.Hurzook) A detector assambly including a three-dimensional magnetic sensor adapted to detect presence of a vehicle,a transceiver operatively coupled to the magnetic sensor and adapted to send and receiver information,a microprocessor operatively coupled to the magnetic sensor and the transceiver.The detector assambly is part of a vehicle assamblies and a remote device operatively coupled to the

plurality of sensor assemblies to exchange information with each of the plurality of sensor assemblies. As a conclusion,this article is an overview for the autonomous parking systems and its methods. Some of invention uses ultrasonic sensors,cameras and other devices to get the data refers the position or path and developing a method to reduce the error or noise.For more information or details of the inventions shall be obtained from their patents.Each inventions pub no and Pub date are given in the above. Referances:[1][2] http://www.idsc.ethz.ch/Research_Guzzella/Automotive_Applications/Hybrid_Powertrains/archives /Semi-Autonomous_Parking [3]http://www.patentgenius.com/patent/8098174.html [4]http://www.google.com/patents/about?id=4nrwAAAAEBAJ&dq=%22michael+hering %22&num=4&client=internal-uds&source=uds [5]http://www.google.com/patents?id=ehG_AAAAEBAJ&printsec=frontcover&dq=AutoParking+Device&hl=en&sa=X&ei=lRopT6nNCJGLhQe4wvm3BQ&ved=0CDIQ6AEwAA