Shiuh-Jer Huang and Yu-Sheng Hsu
Parking Space Detection and Trajectory Tracking Control for Vehicle AutoParking
1712 - 1718
2017
11
10
International Journal of Mechanical and Mechatronics Engineering
https://publications.waset.org/pdf/10008126
https://publications.waset.org/vol/130
World Academy of Science, Engineering and Technology
Onboard available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward autoparking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between egocar 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 autoparking controller executes the online optimal parking trajectory planning based on this 2D environmental map, and monitors the realtime vehicle parking trajectory tracking control. This low cost autoparking system was tested on a model car.
Open Science Index 130, 2017