DMV-AVP: Distributed Multi-Vehicle Autonomous Valet Parking Using Autoware
It addresses scalability limitations in autonomous vehicle simulations for researchers and developers, though it is incremental as it builds on existing distributed architectures.
This paper tackles the problem of simulating multi-vehicle autonomous valet parking by introducing DMV-AVP, a distributed system that enables scalable and conflict-free coordination across multiple hosts, with experiments showing consistent performance in two- and three-host configurations.
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