多车自动泊车系统实现分布式协同，提升可扩展性与安全性。
DMV-AVP: Distributed Multi-Vehicle Autonomous Valet Parking Using Autoware
- 基于分布式架构设计多车泊车协调框架，实现跨车辆状态同步。
- 在两到三台主机上验证，实现无冲突泊车与稳定协同，性能可扩展。
- 适合研究多车自动驾驶协同、仿真测试或硬件在环验证的开发者。
本文提出DMV-AVP，一种基于分布式多自主车辆架构（DMAVA）的多车自动泊车仿真系统。现有方法多依赖集中式设计，限制了可扩展性与完全自主控制能力。本工作在DMAVA基础上构建两个模块：1）多车泊车协调框架，包含泊车管理器与每车节点，负责全局状态跟踪、车辆排队、车位预留、生命周期协调及冲突解决；2）集成Unity的YOLOv5车位检测模块，在AWSIM Labs中实现视觉感知。两个模块通过Zenoh通信层无缝集成，保障跨主机数据准确性与可控性。在两台和三台主机配置下的实验表明，系统具备一致的协调能力、无冲突泊车行为，且性能可扩展。结果证明，该系统支持多车协同泊车仿真，为未来真实场景与硬件在环验证奠定基础。演示视频与源码见：https://github.com/zubxxr/multi-vehicle-avp
原文摘要 · Abstract (English)
This paper presents DMV-AVP, a distributed simulation of Multi-Vehicle Autonomous Valet Parking (AVP). The system was implemented as an application of the Distributed Multi-Autonomous Vehicle Architecture (DMAVA) for synchronized multi-host execution. Most existing simulation approaches rely on centralized or non-distributed designs that constrain scalability and limit fully autonomous control. This work introduces two modules built on top of DMAVA: 1) the Multi-Vehicle AVP Coordination Framework, composed of AVP Managers and a per-vehicle AVP Node, is responsible for global parking state tracking, vehicle queuing, parking spot reservation, lifecycle coordination, and conflict resolution across multiple vehicles, and 2) the Unity-Integrated YOLOv5 Parking Spot Detection Module, that provides real-time, vision-based perception within AWSIM Labs. Both modules integrate seamlessly with DMAVA and extend it specifically for multi-vehicle AVP operation, supported by a Zenoh communication layer that ensures high data accuracy and controllability across hosts. Experiments conducted on two- and three-host configurations demonstrate consistent coordination, conflict-free parking behavior, and scalable performance across distributed Autoware instances. The results confirm that the proposed DMV-AVP supports cooperative AVP simulation and establishes a foundation for future real-world and hardware-in-the-loop validation. Demo videos and source code are available at: https://github.com/zubxxr/multi-vehicle-avp
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