Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2.
DOI: 10.17667/ iim.2016.1-2/2.
De elopmen o a Pa king Assis ance o Model
Vehicle
Ákos Cse enák
Robe Bosch Depa men o Mecha onics
Uni e si y o Miskolc
Miskolc, Hunga y
cse [email protected]
Abs ac — A model ehicle has been de eloped u he in
o de o pe o m au oma ic pa king. Ul asonic senso s and
STM32 F4 Disco e y mic ocon olle ha e been moun ed. The
d i ing assis an sys em can ind he pa king place hen pa allel
pa king is pe o med. The backwa d mo ion o he ehicle is
ca ied ou along wo ci cula pa hs, which is ollowed by
co ec ions o he posi ion and o ien a ion.
Keywo ds—mecha onics, pa king assis an , mic ocon olle ,
ul asonic senso , au onomous ehicle
I. INTRODUCTION
This pape deals wi h he u he de elopmen o a model
ehicle o pe o m au oma ic pa king. Nowadays he d i e
assis an sys ems a e widely used in high-class ca s and also in
middle-class ones, which can p e en he acciden s [1] – [9].
Pa h o ehicle can be planed u ilizing i s kinema ics. Due
o i s sizes mic ocon olle s a e easy moun able on model
ehicle. The main con olle o he ehicle unde de elopmen
is an STM32F4 Disco e y mic ocon olle [13] - [14].
Ul asonic senso s, elec onic speed con olle (ESC) and
s ee ing se o ha e been moun ed [10] - [12]. The p og am o
he d i ing assis an has been w i en in C language using [15]
- [19]. The au onomous ehicle can ind he pa king place hen
i mo es along wo ci cula a ches in backwa d. Co ec ions
a e pe o med au oma ically, i.e., achie ing pa allel
o ien a ion and inding middle posi ion.
II. KINEMATICS OF PARALLEL PARKING
Fig. 1. Limi ed mo emen o ehicle
Fig. 2. Planning o pa h based on mo emen o ea axis
The ehicle can mo e along designed pa h. Due o
nonholonomic cons ain s he mo ion o he ehicle is
de e mined by he planes o he wheels in ideal cases. A
ci cula pa h is shown wi h cons an 30° s ee ing angle in
Figu e 1. The planned pa king pa h, which consis s o wo
a ches, is illus a ed in Figu e 2.
Geome ical ske ches a e needed o he pa h planning.
Be ween he middle poin s o ea axis has been d awn a
s aigh line. The pa king in ol es wo a ches ha ing opposi e
cu a u es, and he join poin o wo a ches is de e mined in
he planning p ocess. The bes loca ion o his join poin is
si ua ed on he side line o he pa ked ehicle. The angle o
s ee ing wheels along he a ches can be ob ained using
iangles (see Figu e 2).
The pa king in ol es he ollowing 4 s eps:
 Finding pa king place and s opping nea he on
ehicle
 Backwa d mo emen s along wo a ches, app oaching
ea ehicle
 Pa allel co ec ion
 Finding middle posi ion
Rea ehicle
F on
ehicle
Pa king ehicle
Pa king ehicle
Fo wa d di ec ion:
Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2.
DOI: 10.17667/ iim.2016.1-2/2.
III. UNITS FOR FURTHER DEVELOPMENT THE MODEL VEHICLE
The o iginal model ehicle is comme cially a ailable,
which can be seen in Figu e 3 be o e u he de elopmen .
Fig. 3. The model ehicle be o e de elopmen
The o iginal mo o con olle was a mechanical speed
con olle , which canno be applied o slow mo ion.
The e o e an elec onic speed con olle (ESC) ype Reely
ESC 420 has been moun ed, which can be seen in Figu e 4.
Fig. 4. Elec onic Speed Con olle (ESC)
An elec ic mo o wi h highe nominal ol age, highe
mo o u ns and lowe no-load speed is be e applicable o
slow mo ions. A G aupne Speed 500E DC mo o was
moun ed in he ehicle, which has 12V nominal ol age and
12000 1/min no-load speed (Figu e 5).
Fig. 5. G aupne Speed 500E DC mo o
The elec onic sys em o ca is supplied by LiPo
accumula o (LRP b and 4600 Hype Pack ype), i is
p e e able due o i s e y low sel -cha ge and high-capaci y
(see Figu e 6).
Fig. 6. 4600mAh Capaci y, LiPo ype accumula o
An ul asonic senso is used o sensing o en i onmen .
Due o p ice ou HC-SR04 ype ul asonic senso s (Figu e 7)
ha e been moun ed on he on , on he ea and on he side o
ca .
Fig. 7. HC-SR04 Ul asonic senso s
The b ain o he elec onic sys em is a STM32 F4
Disco e y ype mic ocon olle , which can handle he signals
o senso s as inpu s and can con ol he ESC and s ee ing
se o as ou pu s. The mic ocon olle has an ARM based
CPU, and i is illus a ed in Figu e 8.
Fig. 8. STM32 F4 Disco e y mic ocon olle
IV. PROGRAMMING
The s ee ing se o and he ESC can be con olled by PWM
signals. Be o e implemen a ion he necessa y PWM signal
was es ed wi h an RC (Radio-Con olled) sys em, he
measu ed alues a e displayed on an oscilloscope shown in
Figu e 9. The dis ance be ween wo pulses is 20ms, so he
PWM signal is 50Hz.
Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2.
DOI: 10.17667/ iim.2016.1-2/2.
Fig. 9. The PWM signal on oscilloscope o se o o ESC
The wid h o a pulse can be changed be ween 1 and 2 ms,
which a e e e ing o he igh and le s ee ing angles. The
ze o s ee ing angle is a 1.5 ms when he ehicle is mo ing
along a s aigh line. The pulses and he s ee ing angles a e
illus a ed in Figu e 10 and Figu e 11, espec i ely.
1ms 1.5ms 2ms
Fig. 10. Se o middle- and a posi ions
(a) Le s ee ing (b) Middle s ee ing (c) Righ s ee ing
Fig. 11. S ee ing se o angles
When he d i ing mo o is also con olled by pulse 1ms,
1.5ms and 2ms, he ehicle is in backwa d mo ion, s opped,
and o wa d mo ion, espec i ely.
The ul asonic senso s wo k wi h he ollowing I/O signals:
• The inpu o senso signal: 10µs TTL igge signal
• The ou pu o senso signal: TTL PWL signal (5V->0V)
The low cha o pa allel pa king can be seen in Figu e 12.
In he i s s ep he mic ocon olle checks he co ec
measu emen o senso s. When any senso is inco ec , o
measu es oo big dis ance, he pa king will no s a . I he
pa king has been s a ed, he ca sea ches ee pa king place,
hen mo es nea he on ehicle. I he ca has a i ed nea
he on ehicle, i s a s o mo e backwa d along wo a ches,
shown in Figu e 2. A pa allel o ien a ion co ec ion is needed
close o ea ehicle. I he ca is in pa allel o ien a ion, he
mic ocon olle inds middle posi ion, and i i is necessa y,
he ca will mo e o middle posi ion.
START
Fo wa d
Fo wa d
Backwa d, igh a ch
Backwa d, igh a ch
Ha e all senso s
measu e co ec ?
Y
N
Y
N
Y
N
Y
N
Is his a ee
pa k place?
Ha e he ehicle
a i ed nea on
ehicle?
Ha e he ehicle le
he on ehicle?
STOP
Backwa d, le a ch
Fo wa d, le a ch
Is he ehicle no oo a
(40-45cm) o ea ehicle?
Y
N
Y
N
Wha di ec ion has
he ehicle?
Fo wa d, igh a ch
S aig h
Righ Le
Fo wa d
Which ehicle is close o
pa king ehicle?
Backwa d
Middle
posi ion
Close o on ehicle Close o ea ehicle
Is he ehicle close
(<10cm) o ea ehicle?
Fig. 12. The low cha o pa king
V. RESULTS
Fig. 13. The au onomous ehicle
Recen Inno a ions in Mecha onics (RIiM) Vol. 3. (2016). No. 1-2.
DOI: 10.17667/ iim.2016.1-2/2.
The au onomous ehicle can be seen in Figu e 13. The
s eps o pa king a e illus a ed in Figu e 14.
Fig. 14. The las 3 s eps o pa king
VI. CONCLUSIONS
A model ehicle has been de eloped u he in o de o
pe o m au oma ic pa king. The STM32F4 Disco e y
mic ocon olle , he ul asonic senso s, he elec onic speed
con olle (ESC) and he s ee ing se o can con ol he
mo ions o ehicle au oma ically. The pa h o ehicle was
planned using kinema ics o he pa king model ehicle.
The p esen pa king assis an sys ems can be de eloped
u he o pe pendicula o in ga age pa king. O he d i e
assis an sys ems, e.g. lane ollowe , adap i e c uise con ol
de elopmen a e also planned.
ACKNOWLEDGEMENT
This esea ch was ca ied ou in he amewo k o he
Cen e o Excellence o Mecha onics and Logis ics a
Uni e si y o Miskolc.
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