**7. Conclusions and Future Work**

In this paper, we studied the problem of automated parking space allocation during the transition period when both human-operated vehicles (HVs) and autonomous (driverless) vehicles (AVs) are present simultaneously in an intelligent parking infrastructure. Since not all vehicles will be autonomous in a near foreseeable future and fully automated parking systems are still being developed, the problem of interest, thus, has important and relevant applications. Based on four key factors that affect the choice of parking spaces for drivers, the fuzzy comprehensive evaluation (FCE) method is used to first predict the driver's choice of parking space, since a HV cannot communicate with the central command station. This prediction then allows an intelligent parking system to allocate the remaining available parking spaces to the AVs without conflict arising with the HVs. Furthermore, by incorporating information of the parking spaces and road map of the parking facility, an adjacent matrix in the Floyd algorithm is then developed to determine the shortest feasible paths to arrive at the parking spaces safely. The proposed algorithms are applied to three parking lot scenarios in which both a HV and an AV are entering. It is shown that a parking space can be reasonably allocated to the AV after a prediction of the driver's choice of parking space.

This work lays the foundation for future investigation into the automated parking problem with multiple HVs and AVs. Moreover, since the test parking lot discussed in this paper is not very large, it is likely that drivers can observe the entire layout and the situation from the entry point. More complexities of the parking infrastructure, such as multiple entrances, exits, and levels, can be considered in the future. A faster and more robust dynamic planning method needs to be developed.

**Author Contributions:** M.W. and H.J. designed the algorithm; C.-A.T. verified the rationality of the algorithm; M.W. performed the software simulation; H.J. and C.-A.T. analyzed the results of the simulation; M.W. wrote the paper with help of H.J. and C.-A.T.; C.-A.T. completed the final editing. All authors have read and agreed to the published version of the manuscript.

**Funding:** This work is financially supported by The Major University Nature Science Research Project of Jiangsu Province (No.16KJA580001).

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** Not applicable.

**Conflicts of Interest:** The authors declare no conflict of interest.
