Development of a Parking Assistance for Model Vehicle

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. REFERENCES [1] VDA, Ve band de Au omobilindus ie e.V.: Au oma ion F om D i e Assis ance Sys ems o Au oma ed D i ing, 2015. [2] Meiyuan Zhao: Ad anced D i e Assis an Sys em, Th ea s, Requi emen s, Secu i y Solu ions, In el Labs, 2015. [3] O. Gie elink, J. Ploeg, B. De Schu e , M. Ve haegen: De elopmen o ad anced d i e assis ance sys ems wi h ehicle ha dwa e-in- he-loop simula ions, Vehicle Sys em Dynamics, ol. 44, no. 7, pp. 569–590, 2006. [4] John Golias, Geo ge Yannis and Cons an inos An oniou: Classi ica ion o d i e -assis ance sys ems acco ding o hei impac on oad sa e y and a ic e iciency, T anspo Re iews, VOL. 22, NO. 2, 179-196, 2002. [5] Sungwoo Choi, Clémen Boussa d, B igi e d’And éa-No el: Easy Pa h Planning and Robus Con ol o Au oma ic Pa allel Pa king, P ep in s o he 18 h IFAC Wo ld Cong ess Milano, 2011. [6] Anki Gup a, Rohan Di eka : Au onomous Pa allel Pa king Me hodology o Acke man Con igu ed Vehicles, ACEEE In e na ional Jou nal on Communica ion, Vol 1, No. 2, 2010. [7] Young-Woo Ryu, Se-Young Oh, and Sam-Yong Kim: Robus Au oma ic Pa king wi hou Odome y using an E olu iona y Fuzzy Logic Con olle , In e na ional Jou nal o Con ol, Au oma ion, and Sys ems, ol. 6, no. 3, pp. 434-443, 2008. [8] SH. Azadi, Z. Take khani: Au onomous Pa allel Pa king o a Ca Based on Pa king Space De ec ion and Fuzzy Con olle , In e na ional Jou nal o Au omo i e Enginee ing, Vol.2, Numbe 1, 2012. [9] Klebe de Oli ei a And ade, And é Ca mona He nandes, Ma celo Becke : A RULE-BASED CONTROLLER SIMULATION FOR AN AUTONOMOUS PARALLEL PARKING OF A CAR-LIKE ROBOT USING LASER SENSORS, ABCM Symposium Se ies in Mecha onics - Vol. 5, Sec ion VII - Robo ics Page 1042, 2012. [10] Con ad.com-Con ad Elec onic In e na ional GmbH & Co.: Elec onic D i e Regula o ESC-420 Ins uc ion Shee , 2008, h p://www.p oduk in o.con ad.com/da enblae e /225000- 249999/236975-da-01-en-ELEKTRON_FAHRTREGLER_ESC420.pd [11] G aupne GmbH & Co.: G aupne SPEED 500 E Elek omo o [12] Raspbe y PI Bol : Ul ahangos á olságmé ő Raspbe y PI-hez, h p://www. pibol .hu/ e mek/ul ahangos_ a olsagme o_ aspbe y_pi- hez__ajandek_ex ak.h ml [13] STMic oelec onics: STM32F4DISCOVERYDisco e y ki wi h STM32F407VG MCU, h p://www.s .com/web/ca alog/ ools/FM116/SC959/SS1532/PF252419 [14] STMic oelec onics: STM32F405xx, STM32F407xx Da ashee , h p://www.s .com/s -web- ui/s a ic/ac i e/en/ esou ce/ echnical/documen /da ashee /DM00037051. pd [15] Da en Sawicz: Hobby se o undamen als, 2008, h ps://www.p ince on.edu/~mae412/TEXT/NTRAK2002/292-302.pd [16] STMic oelec onics: STM32F3 and STM32F4 Se ies Co ex®-M4 p og amming manual, h p://www.s .com/web/en/ esou ce/ echnical/documen /p og amming_ manual/DM00046982.pd [17] STMic oelec onics: Desc ip ion o STM32F2xx S anda d Pe iphe al Lib a y, h p://www.s .com/s -web- ui/s a ic/ac i e/en/ esou ce/ echnical/documen /use _manual/DM000238 96.pd [18] Tilen Maje le: Lib a y 42- Con ol RC se o wi h STM32F4, h p://s m32 4-disco e y.com/2014/10/lib a y-42-con ol- c-se o- s m32 4/ [19] Uwe Becke : Quellcode "C" Lib a ys und Beispiele ü ATMega und STM32F4 CPUs: 72-HC_SR04-Lib a y (STM32F4), h p://mik ocon olle .bplaced.ne /wo dp ess/?page_id=32