TY - GEN
T1 - Two segments (Plus) path planning of automatic parking assist system for 4WS vehicles
AU - Huang, Yiwen
AU - Chidambareswaran, Thiagarajan
AU - Chang, Chuan
AU - Chen, Yan
N1 - Publisher Copyright:
Copyright © 2019 ASME.
PY - 2019
Y1 - 2019
N2 - In some restricted urban parking environment, conventional automatic parking assist system (APAS) may not be applicable due to the dimension limitations of the parking lot. To handle these situations, a novel ASPS for four-wheel steering (4WS) vehicles is proposed in this paper. In the proposed novel APAS, the suitable parking space is first identified through low-cost ultrasonic sensors mounted around the vehicle. Then, depending on the vehicle initial position, various compact and smooth parking paths are generated. With the full utilization of the 4WS system, the proposed path planning algorithm can allow a larger initial parking area and generate simple 2 or 2 segments plus parking paths, which can be easily tracked by the 4WS vehicles. The proposed APAS for 4WS vehicles makes the automatic parking process in restricted spaces more efficient. To verify the feasibility and effectiveness of the proposed APAS, a 4WS vehicle prototype is applied for validations through both simulation and experiment results.
AB - In some restricted urban parking environment, conventional automatic parking assist system (APAS) may not be applicable due to the dimension limitations of the parking lot. To handle these situations, a novel ASPS for four-wheel steering (4WS) vehicles is proposed in this paper. In the proposed novel APAS, the suitable parking space is first identified through low-cost ultrasonic sensors mounted around the vehicle. Then, depending on the vehicle initial position, various compact and smooth parking paths are generated. With the full utilization of the 4WS system, the proposed path planning algorithm can allow a larger initial parking area and generate simple 2 or 2 segments plus parking paths, which can be easily tracked by the 4WS vehicles. The proposed APAS for 4WS vehicles makes the automatic parking process in restricted spaces more efficient. To verify the feasibility and effectiveness of the proposed APAS, a 4WS vehicle prototype is applied for validations through both simulation and experiment results.
KW - 4WS
KW - Automatic parking assist system
KW - Path planning
KW - Ultrasonic sensor
UR - http://www.scopus.com/inward/record.url?scp=85076440866&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85076440866&partnerID=8YFLogxK
U2 - 10.1115/DSCC2019-9005
DO - 10.1115/DSCC2019-9005
M3 - Conference contribution
AN - SCOPUS:85076440866
T3 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
BT - Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Y2 - 8 October 2019 through 11 October 2019
ER -