Verification of Multi-Turn Control and Inertial / Vehicular Data in Advanced Parking Guidance System(應用多迴轉式控制、慣性與車身訊號實現先進停車導引系統)
- arking a vehicle is always a troublesome problem to beginners because it’s hard to know the turning time. This paper presents a solution to decrease parking space for parallel parking using ultrasonic sensors, intelligent control embedded developed algorithm. The developed system integrates ultrasonic sensors, gyro, electric power steering driver, steering angle sensor and hall sensor with microcontroller into an advanced parking guidance system. The tracking model is scanned by ultrasonic sensor, and then fuzzy-PID control method is adapted to control steering motion. An inertial sensor, gyro, is used to compensate vehicular parallelism relative to parking lines. Besides, torque sensor of electrical power steering system is taken into consideration for disable parking guidance system when system is under failure mode. The discrete kalman filter is used to filter measured data of torque sensor and estimate true state which is affected by white noise. The proposed system is carried out with theoretical algorithm and hardware integration, and the implementation result shows vehicle control applicability.
- IA-00-0036 (711K)