The primary purpose of each autonomous Exit Parking system is to facilitate the process of Exiting the vehicle, emphasizing the comfort and safety of driving in the absence of almost any human effort. In this paper, the problem of Exit Parking for autonomous vehicles is addressed. A nonlinear kinematic model is presented based on the geometric relationship of the vehicle velocities, and a linear time-varying discrete-time model of the vehicle is obtained for utilizing the optimal control strategy. The proposed path planning algorithm is based on the minimization of a geometric cost function. This algorithm works for ample space Exit Parking in Single-Maneuver and tight spaces in Multi-Maneuver Exit Parking. Finally, an optimal discrete-time linear quadratic control approach is hired to minimize a quadratic cost function. To evaluate the performance of the proposed algorithm, the control system is simulated by MATLAB/Simulink software. The results show that the optimal control strategy is well able to design and follow the desired path in each of the Exit Parking maneuvers.

This paper develops an automatic Parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering angle for the output. In this way some feasible reference trajectory path have been introduced according to geometric and kinematic constraints and nonholonomic constraints to simulate motion path of car. Also a novel method is used for Parking space detection according to image processing. A fuzzy controller according to experiments of skilled driver and path planning is designed, and then fuzzy rules are tuned and finally fuzzy membership functions are optimized using genetic algorithm. Simulation results illustrate the effectiveness of the developed schemes.

The aim of this research is to develop a pricing model for on-street Parking lots to promote the investment on the construction of Parking garages. The objective was to put a price on on-street Parking spaces in such a way that the customer prefers to park in the adjacent Parking garages.First, the most effective factors in pricing were identified by developing a questionnaire. Factors were divided into two categories as; control parameters and directly effective parameters. The hierarchical analysis process (AHP) was used to estimate the average weight of each direct parameter. Furthermore, a behavioral model based on the customer survey was developed to obtain the suitable price for a Parking space Finally, a comprehensive model integrating the AHP and behavioral models was developed in which, it would be possible to determine the desired price for a customer to prefer to park in a garage rather than on the street. Using this model it would be also possible to price an on-street Parking space in such a way that the drivers tend to divert from on street Parking spaces to the Parking garages. In this case, investment on the development of Parking garages would economically be possible.

Drivers in urban neighborhoods who patrol streets, seeking inexpensive on-street Parking create a significant fraction of measured traffic congestion. The pool of drivers patrolling at any time can be modeled as a queue, where ‘queue service’ is the act of Parking in a recently vacated Parking space and queue discipline is SIRO – Service In Random Order. We develop a queueing model of such driver behavior, allowing impatient drivers to abandon the queue and to settle for more expensive off-street Parking. We then relate the model to the economic theory of congestion pricing, arguing that price differentials between on-street and off-street Parking should be reduced in order to reduce traffic congestion. Reducing the number of "patrolling drivers" often can reduce urban road congestion significantly, in some cases as effectively as technologically expensive road pricing schemes that cordon off the center city.

Public Parking is an inseparable element of the cities. Parking shortage brings many direct and indirect negative impacts on the citizens' life, including wasting citizen's time while seeking barely found Parking spots, and increasing vehicle traffic and air pollution. Our analysis of the supply and demand of Parking spaces in Tehran, Iran shows Tehran lacks about 40\% of its Parking spaces causing the citizens to suffer daily. Assessment of unfavorable impacts of the Parking shortage and the way citizens deal with it can be used for better Parking management by the city managers and policymakers. To this end, in this research, we conduct a questionnaire survey to extract and assess Tehran citizens' opinions on different aspects of the issue. A 19-question survey with five main categories was designed. These categories include, 1)the extent of the wasted time for finding free Parking spaces, 2) citizens' priorities for the type of the Parking spaces, 3) price of the Parking spaces, 4) type of complementary facilities, and 5) the main sources of the public Parking issues. The results achieved in the survey indicate severe impacts of the Parking issue on the citizens' life. For example, 74\% of the respondents indicated that on average they spend more than 10 minutes for finding free Parking spots in the city while 65\% of them suffer from high tension and stress during this time. About 66\% of people expressed they have witnessed or even have been involved in the street fights and quarrels on free Parking spaces. The lack of free Parking space, with the frequency of 78\%, and the poor public transportation, with the frequency of 42\%, were found in the survey as the main sources of the Parking issue on the citizens' point of view. In the current situation, Parking price, type of Parking space and complementary facilities in the Parking buildings are not the citizens' main concerns. Though, being able to find a Parking space, not so far from their destination, is the main preference.