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DMV-AVP: Distributed Multi-Vehicle Autonomous Valet Parking

Distributed Autonomous Valet Parking Across Multiple Hosts

Autoware AWSIM Labs ROS 2 Humble Zenoh YOLOv5 AVP Node License

DMV-AVP extends DMAVA to support coordinated AVP across multiple vehicles and physical hosts using Autoware Universe, AWSIM Labs, and Zenoh.

It adds the U-YOLO for parking-spot detection and AVP-CF modules for orchestration, queuing, and reservation management. Together, these components enable real-time distributed coordination, synchronized planning, and conflict-free multi-vehicle parking behavior.

Features

  • Multi-host, multi-vehicle AVP simulation
  • Zenoh-based distributed ROS 2 topic bridging for synchronized operation
  • Parking spot detection and reservation mechanisms
  • Namespace-aware orchestration for individual Autoware stacks
  • Custom RViz panel for streamlined AVP testing and monitoring
  • Scalable to larger fleets and more complex simulation scenarios

Getting Started

DMV-AVP builds on DMAVA. Make sure DMAVA is installed and set up before proceeding.

Once DMAVA is ready, see System Architecture.

Developer Quick Commands

For a condensed list of frequently used commands, refer to Developer Quick Commands.

Troubleshooting

Refer to DMAVA Issues to see if the issue has been addressed. Otherwise, feel free to open one.