Title :
Autonomous parallel parking system for Ackerman steering four wheelers
Author :
Gupta, Ankit ; Divekar, Rohan ; Agrawal, Mohit
Author_Institution :
Dept. of Electron. & Telecommun., Maharashtra Inst. of Technol., Pune, India
Abstract :
Parallel parking is challenge for all drivers say amateurs or the experts. An automatic car parking system is a solution to this ordeal. This vehicular technology has been implemented using many other systems but a cost effective, simple and accurate solution will be greatly appreciated. This paper explains in detail a simple and precise autonomous car-parking algorithm for Ackerman steering configuration. A two-part trajectory-planning algorithm consists of the steering planning and simple distance calculations. The limits of vehicle mechanism and drive torque are taken into account. Simulation results are presented to illustrate the application of the proposed algorithm. The algorithm uses geometric calculations for its path planning and odometry. The system uses sonar sensors and wheel encoders for its perception. This sensed data is interpreted in the processor of the vehicle. As per the trajectory determined, the vehicle parks itself into the parking space. Simulation and experiment results shows that using this algorithm the parking maneuver will become more safe, efficient and fast.
Keywords :
distance measurement; path planning; position control; sonar detection; steering systems; traffic control; wheels; Ackerman steering four wheelers; automatic car parking system; odometry; parallel parking; path planning; sonar sensors; trajectory planning algorithm; vehicle mechanism; wheel encoders; Driver circuits; Sensor systems; Trajectory; Vehicles; Wheels; Automatic Parking System; Parallel Parking; Parking Sensors; Path Planning; Tracking Algorithm;
Conference_Titel :
Computational Intelligence and Computing Research (ICCIC), 2010 IEEE International Conference on
Conference_Location :
Coimbatore
Print_ISBN :
978-1-4244-5965-0
Electronic_ISBN :
978-1-4244-5967-4
DOI :
10.1109/ICCIC.2010.5705869