Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system
The relationship between customers/consumers and the automotive industry adds to the need for electric, intelligent and autonomous vehicles to be independent, even during maneuvers considered difficult, aiming at the safety of vehicle occupants and third parties. In this work, a type C algorithm was...
| Autor principal: | Manuel, Calequela João Tomé |
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| Formato: | Dissertação |
| Idioma: | Inglês |
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Universidade Tecnológica Federal do Paraná
2021
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riut-1-240962021-02-05T06:10:57Z Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system Projeto e desenvolvimento de algoritmos e estratégias de controle para sistemas de estacionamento automático: sistema avançado de assistência ao condutor Manuel, Calequela João Tomé Santos, Max Mauro Dias https://orcid.org/0000-0001-7877-3554 http://lattes.cnpq.br/6212006974231025 Santos, Max Mauro Dias https://orcid.org/0000-0001-7877-3554 http://lattes.cnpq.br/6212006974231025 Teixeira, Evandro Leonardo Silva https://orcid.org/0000-0002-4781-6782 http://lattes.cnpq.br/4978036208480917 Filardi, Joao Batista Carvalho http://lattes.cnpq.br/9778450928715826 Negrelli, Leônia Gabardo http://lattes.cnpq.br/9778450928715826 Estacionamento de automóveis Sistemas inteligentes de veículos rodoviários Sistemas embarcados (Computadores) Veículos autônomos Algorítmos Automobile parking Intelligent transportation systems Embedded computer systems Automated vehicles Algorithms CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA Engenharia/Tecnologia/Gestão The relationship between customers/consumers and the automotive industry adds to the need for electric, intelligent and autonomous vehicles to be independent, even during maneuvers considered difficult, aiming at the safety of vehicle occupants and third parties. In this work, a type C algorithm was developed for the automatic parking of a vehicle in parallel, with computational validation (Software In-the Loop). The great differential of the developed C algorithm adopts the strategy of the main vehicle being misaligned in relation to the secondary (parked) vehicle. That is, it is not mandatory that the main vehicle is in the axle-to-axle position of the secondary vehicle to perform the automatic parallel parking maneuver. A minimum value was determined in relation to the position (x) and a minimum value in relation to the position (y) with the reference being the secondary (parked) vehicle. The geometric points are the positions of the 2 parked vehicles and the parking space is equal to the displacement of the free space between the 2 parked vehicles. When this displacement is greater than the total length of the vehicle, the maneuver is performed, otherwise the maneuver is canceled because there is no guarantee that it will be successful; these geometric relations give rise to the trajectory that the main vehicle must travel. The developed algorithm aims at the subsequent implantation of the Hardware In-the Loop (HIL) model, specifically the validation of the algorithm in a real prototype or vehicle, since the computational execution/validation of the algorithm was successful. The type C algorithm if programmed in an electronic microcontroller allows the control of the vehicle to perform safe maneuvers and without human intervention, so it is considered an intelligent automatic parallel parking system (embedded system) capable of identifying a parallel parking space, checking if the size of the space is adequate to park the vehicle in the reverse direction, detecting possible obstacles during the maneuver, through ultrasonic sensors; other types of measurement sensors can be used. As other proposed contributions, the tuning methods for the longitudinal controller (PID) and lateral controller (MPC) stand out, as well as a complete study on the kinematics and vehicle dynamics and the functional modeling of a vehicle with 4 wheels. The MATLAB/Simulink software helped with the various accurate computer simulations, to ensure Software In-the Loop (SIL) validation. Fundação Araucária de Apoio ao Desenvolvimento Científico e Tecnológico do Paraná A relação entre os clientes/consumidores e a indústria automobilística agrega a necessidade dos veículos elétricos, inteligentes e autônomos serem independentes, até mesmo durante manobras consideradas difíceis, visando a segurança dos ocupantes do veículo e terceiros. Neste trabalho, foi desenvolvido um algoritmo do tipo C para o estacionamento automático de um veículo de forma paralela, com validação computacional (Software In-the Loop). O grande diferencial do algoritmo C desenvolvido adota a estratégia do veículo principal estar desalinhado em relação ao veículo secundário (estacionado). Ou seja, não é obrigatório que o veículo principal esteja na posição eixo com eixo do veículo secundário para realizar a manobra do estacionamento automático paralelo. Foi determinado um valor mínimo em relação à posição (x) e um valor mínimo em relação à posição (y) sendo a referência o veículo secundário (estacionado). Os pontos geométricos são as posições dos 2 veículos estacionados e a vaga de estacionamento é igual ao deslocamento do espaço livre entre os 2 veículos estacionados. Quando este deslocamento for maior que o comprimento total do veículo a manobra é executada, caso contrário a manobra é cancelada pelo fato de não ter garantia dela ser bem sucedida; essas relações geométricas dão origem à trajetória que o veículo principal deve percorrer. O algoritmo desenvolvido visa à implantação posterior do modelo Hardware In-the Loop (HIL), especificamente a validação do algoritmo em um protótipo ou veículo real, uma vez que a execução/validação computacional do algoritmo foi bem sucedida. O algoritmo do tipo C se programado em um microcontrolador eletrônico possibilita o controle do veículo para realizar manobras seguras e sem intervenções humanas, por isso é considerado um sistema inteligente de estacionamento automático paralelo (sistema embarcado) capaz de identificar uma vaga de estacionamento paralela, verificando se o tamanho da vaga é adequado para estacionar o veículo no sentido de ré, detectando possíveis obstáculos durante a manobra, através de sensores ultrassônicos; outros tipos de sensores de medição podem ser utilizados. Como demais contribuições propostas destacam-se os métodos de sintonia para o controlador longitudinal (PID) e controlador lateral (MPC), assim como um estudo completo sobre a cinemática e a dinâmica veicular e a modelagem funcional de um veículo com 4 rodas. O software MATLAB/Simulink auxiliou com as diversas simulações computacionais precisas, para garantir a validação Software In-the Loop (SIL). 2021-02-04T18:41:51Z 2021-02-04T18:41:51Z 2020-12-22 masterThesis MANUEL, Calequela João Tomé. Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system. 2020. Dissertação (Mestrado em Engenharia Elétrica) - Universidade Tecnológica Federal do Paraná, Ponta Grossa, 2020. http://repositorio.utfpr.edu.br/jspui/handle/1/24096 eng openAccess http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Universidade Tecnológica Federal do Paraná Ponta Grossa Brasil Programa de Pós-Graduação em Engenharia Elétrica UTFPR |
| institution |
Universidade Tecnológica Federal do Paraná |
| collection |
RIUT |
| language |
Inglês |
| topic |
Estacionamento de automóveis Sistemas inteligentes de veículos rodoviários Sistemas embarcados (Computadores) Veículos autônomos Algorítmos Automobile parking Intelligent transportation systems Embedded computer systems Automated vehicles Algorithms CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA Engenharia/Tecnologia/Gestão |
| spellingShingle |
Estacionamento de automóveis Sistemas inteligentes de veículos rodoviários Sistemas embarcados (Computadores) Veículos autônomos Algorítmos Automobile parking Intelligent transportation systems Embedded computer systems Automated vehicles Algorithms CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA Engenharia/Tecnologia/Gestão Manuel, Calequela João Tomé Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system |
| description |
The relationship between customers/consumers and the automotive industry adds to the need for electric, intelligent and autonomous vehicles to be independent, even during maneuvers considered difficult, aiming at the safety of vehicle occupants and third parties. In this work, a type C algorithm was developed for the automatic parking of a vehicle in parallel, with computational validation (Software In-the Loop). The great differential of the developed C algorithm adopts the strategy of the main vehicle being misaligned in relation to the secondary (parked) vehicle. That is, it is not mandatory that the main vehicle is in the axle-to-axle position of the secondary vehicle to perform the automatic parallel parking maneuver. A minimum value was determined in relation to the position (x) and a minimum value in relation to the position (y) with the reference being the secondary (parked) vehicle. The geometric points are the positions of the 2 parked vehicles and the parking space is equal to the displacement of the free space between the 2 parked vehicles. When this displacement is greater than the total length of the vehicle, the maneuver is performed, otherwise the maneuver is canceled because there is no guarantee that it will be successful; these geometric relations give rise to the trajectory that the main vehicle must travel. The developed algorithm aims at the subsequent implantation of the Hardware In-the Loop (HIL) model, specifically the validation of the algorithm in a real prototype or vehicle, since the computational execution/validation of the algorithm was successful. The type C algorithm if programmed in an electronic microcontroller allows the control of the vehicle to perform safe maneuvers and without human intervention, so it is considered an intelligent automatic parallel parking system (embedded system) capable of identifying a parallel parking space, checking if the size of the space is adequate to park the vehicle in the reverse direction, detecting possible obstacles during the maneuver, through ultrasonic sensors; other types of measurement sensors can be used. As other proposed contributions, the tuning methods for the longitudinal controller (PID) and lateral controller (MPC) stand out, as well as a complete study on the kinematics and vehicle dynamics and the functional modeling of a vehicle with 4 wheels. The MATLAB/Simulink software helped with the various accurate computer simulations, to ensure Software In-the Loop (SIL) validation. |
| format |
Dissertação |
| author |
Manuel, Calequela João Tomé |
| author_sort |
Manuel, Calequela João Tomé |
| title |
Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system |
| title_short |
Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system |
| title_full |
Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system |
| title_fullStr |
Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system |
| title_full_unstemmed |
Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system |
| title_sort |
design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system |
| publisher |
Universidade Tecnológica Federal do Paraná |
| publishDate |
2021 |
| citation |
MANUEL, Calequela João Tomé. Design and development of algorithms and control strategies for automatic parking systems: advanced driver assistance system. 2020. Dissertação (Mestrado em Engenharia Elétrica) - Universidade Tecnológica Federal do Paraná, Ponta Grossa, 2020. |
| url |
http://repositorio.utfpr.edu.br/jspui/handle/1/24096 |
| _version_ |
1805309005605634048 |
| score |
10,814766 |