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Development of Full-Ultrasonic Positioning and Multi-Turn Control for Advanced Parking Guidance System in Parallel Parking
  • 發布年度:2010
  • 主要類別:駕駛輔助
  • 次要類別:論文
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    Parking assistant system has been identified as an important facility to modern vehicle operation. Typical parking solution used camera technology to detect parking space either on the driver selection or data fusion with ultrasonic sensors.  This paper presents a positioning method and innovative vehicle control algorithm to accomplish vehicle parking in limit parking slot based on ten ultrasonic sensors and electrical power steering device.  The concept of APGS provides a convenient and safe installation to assist driver in parallel parking.  The scheme presents a solution of remote control for parallel parking using multiple-turn control and sensor fusion, including ultrasonic scanning, steering control and self-positioning.  The proposed system has the advantage of easily operation, 1.25 slot length in relation to the length of the car and obstacle detection within 1.1 m; moreover, it helps driver have an active-safety vehicle parking.  This article concerns parking space positioning and steering control in operation.  The positioning method is derived from a recursive regression; indeed, the ultrasonic sonic sensor plays an important role to detect around situation, while the vehicle derives through the edge of parking space.  The vehicle control is implemented using Fuzzy-PID tracking control embedded into APGS core.  The development system integrates ultrasonic sensors, odometry into APGS with developed algorithm. System performance and tracking ability are verified in hardware and software implementations with very low cost.  The APGS is an excellent parking system enhancement in modern assistant system. 
     
    Keywords: Advanced Parking Guidance System, Parallel Parking, Ultrasonic Positioning