Commenced in January 2007
Paper Count: 30855
Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking
Abstract:On-board available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward auto-parking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between ego-car and surrounding obstacle. The dimension of a found empty space can be calculated based on vehicle speed and the time history of ultrasonic sensor detecting information. This result can be used for constructing the 2D vehicle environmental map and available parking type judgment. Finally, the auto-parking controller executes the on-line optimal parking trajectory planning based on this 2D environmental map, and monitors the real-time vehicle parking trajectory tracking control. This low cost auto-parking system was tested on a model car.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1340376Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 982
 http://videos.streetfire.net/video/374-Fifth-Gear-Audi-Park_188973.htm, 2008
 Li, T.H.S. and Chang S. J., ‘Autonomous fuzzy parking control of a car-like mobile robot,” IEEE Trans. on System, Man, Cybernetics- Part A: vol. 33, No. 4, pp. 451-465, 2003.
 Chao Chan-Hong, Ho Cheng-Hsiang, Lin Sheng-Hsiung and Li Tzuu-Hseng S., “Omni-directional vision-based parallel-parking control design for car-like mobile robot,” Proceedings of the 2005 IEEE International Conference on Mechnatronics, Taipei, Taiwan, pp. 562-567.
 Lyon Douglas, “Parallel parking with curvature and nonholonomic constraints,” in Proc. Symp. Intelligent Vehicles, Detroit, MI, 1992, pp. 341–346.
 Laumond J. P., Jacobs P. E., Taix M., and Murray R. M., “A motion planner for nonholonomic mobile robots,” IEEE Trans. on Robotics and Automation, vol. 10, pp. 577–593, Oct. 1994.
 Zhu C. and Rajamani R., “Global positioning system-based vehicle control for automated parking”, IMechE Part D:J. Automobile Engineering, Vol.220, no.1, pp.37-52 , 2006.
 Neff P. W., Wu H. C. and Cai W., “Perfect parallel parking via pontryagin’s principle,” ASME Journal of Dynamic Measurement and Control, Vol. 116, no. 4, pp. 723-728, 1994.