Low cost design of parallel parking assist system based on an ultrasonic sensor |
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Authors: | S H Jeong C G Choi J N Oh P J Yoon B S Kim M Kim K H Lee |
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Institution: | 1.MANDO Central R&D Center,Gyeonggi,Korea;2.School of Electronic Engineering,Sogang University,Seoul,Korea |
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Abstract: | This paper presents a low cost design and implementation of a parallel parking assist system (PPAS) based on ultrasonic sensors.
Generally, a PPAS requires several types of sensors, such as an ultrasonic sensor, camera sensor, radar sensor and laser sensor
for parking space detection. However, our proposed PPAS only requires two ultrasonic sensors on the front and lateral sides
for parking space detection. Moreover, a steering angle sensor and wheel speed sensor installed in the vehicle are used to
obtain vehicle position information for localization in ultrasonic range data. The hardware architecture of the PPAS based
on an electronic control unit (ECU) module, sensor modules and a human machine interface (HMI) module was proposed. Moreover,
the software architecture of the PPAS is based on system initialization, scheduling, recognition and a control algorithm.
In particular, a novel sensor algorithm was proposed to minimize the vehicle corner error of the ultrasonic sensor. A prototype
of the PPAS based on the proposed architecture was constructed. The experimental results demonstrate that the implemented
prototype is robust and successfully performs parking space detection and automatic steering control. Finally, the low cost
design and implementation of the PPAS was possible due to the cheap ultrasonic sensors, simple hardware design and low computational
complexity of the proposed algorithm. |
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