Milton R. Heinen,  Fernando S. Osório,  Farlei J. Heinen,  Christian Kelber. 

This paper describes a simulation system proposed in order to study and to implement intelligent autonomous vehicle control. The developed system can automatically drive a vehicle, implementing a robust control system capable of simulating in a realistic way autonomous parking in a parallel parking space. The system controls the vehicles based on the reading of sonar sensors and automatically generates acceleration and steering commands, parking it in a parallel parking space. The controller was implemented using a rule-based finite state automaton, and the results obtained in our simulations demonstrated that the proposed controller is perfectly able to correctly park the vehicle in different situations.

http://www.dcc.ufla.br/infocomp/artigos/v6.2/art08.pdf

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