Advanced SearchSearch Tips
Development and Evaluation of Automatic Steering System for Parallel Parking
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
  • Journal title : Journal of Drive and Control
  • Volume 13, Issue 1,  2016, pp.18-26
  • Publisher : Korea Society of Fluid Power & Construction Equipments
  • DOI : 10.7839/ksfc.2016.13.1.018
 Title & Authors
Development and Evaluation of Automatic Steering System for Parallel Parking
Lee, Dae Hyun; Kim, Yong Joo; Kim, Tae Hyeong; Chung, Sun Ok; Choi, Chang Hyun;
  PDF(new window)
This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than . Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.
Parallel Parking;Automatic Steering Control;Path Generation;Path Tracking;Space Recognition;
 Cited by
M. Wada, "Development of Advanced Parking Assistance System", IEEE Transactions on Industrial Electronics, Vol.50, No.1, pp.4-17, 2003.

S. W. Jang, H. W. Chang, S. K. Kim, and W. J. Chang, "Backward Path-Tracking Motion Control Algorism for a Semi-Auto Parking System", Proceeding of the KASE 2007 spring conference, pp.2116-2121, 2007. (In Korean)

K. T. Lee, W. J. Chung, and H. W. Chang, "Improvement of odometry accuracy and parking control for car-like mobile robot", J. Korea Robot. SOC., Vol.3, No.1, pp.16-22, 2008. (In Korean)

H. W. Chang and C. H. Kim, "Autonomous Parking of a Model Car with Trajectory Tracking Motion Control using ANFIS", Journal of the Korean Society for Precision Engineering, Vol.26, No.12, pp.69-77, 2009. (In Korean)

H. G. Jung, Y. H. Cho, P. J. Yoon, and J. H. Kim, "Scanning laser radar based target position designation for parking aid system", IEEE Transactions on Intelligent Transportation Systems, Vol.9, No.3, pp.406-424, 2008. crossref(new window)

D. A. Thornton, K. Redmill, and B. Coifman, "Automated parking surveys from a LIDAR equipped vehicle", Transportation Research Part C: Emerging Technologies, Vol.39, pp.23-35, 2014. crossref(new window)

M. H. Son and H. S. Kim, "Development of control system for autonomous parallel parking", Proceeding of the KASE 2003 spring conference, pp.159-166, 2003. (In Korean)

T. H. Hsu, J. F. Liu, P. N. Yu, W. S. Lee, and J. S. Hsu, "Development of an automatic parking system for vehicle", Proceeding of the IEEE Vehicle Power and Propulsion Conference, pp.1-6, 2008.

B. Muller and J. Deutscher, "Trajectory generation and feedforward control for parking a car", Proceeding of the IEEE International Conference on Control Applications, pp.163-168, 2006.

H. Shen, R. Ling, and S. Li, "Continuous curvature trajectory planning method for intelligent vehicle considering no slip constraints", Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2012.

Z. G. Zhu, and H. S. Chen, W. X. Xu, and L. Liu, "Parking simulation of three-dimensional multi-sized star-shaped particles", Modelling and Simulation in Materials Science and Engineering, Vol.22, No.3, pp.1-25, 2014.

F. Gomez-Bravo, F. Cuesta, A. Ollero, and A. Viguria, "Continuous curvature path generation based on ${\beta}$-spline curves for parking manoeuvres", Robot. Auton. Syst., Vol.56, No.4, pp.360-372, 2008. crossref(new window)

J. Jernstrom, "Autonomous Parallel Parking-a Study based on the Implementation of a Car-like Mobile Robot", MS thesis, Lund University, Lund, Sweden, 2008.

C. H. Choi, M. N. Woo, D. H. Lee, Y. J. Kim, and J. H. Jung, "Development of Electric Actuator Position Control System for Automatic Shuttle Shifting of Tractor" J. of Biosystem Eng., Vol.35, No.4, pp.224-230, 2010. (In Korean) crossref(new window)

T. Fraichard and P. Garnier, "Fuzzy control to drive car-like vehicles", Robot. Auton. Syst., Vol.34, No.1, pp.1-22, 2001. crossref(new window)

A. E. Hajjaji and S. Bentalba, "Fuzzy path tracking control for automatic steering of vehicles", Robot. Auton. Syst., Vol.43, pp.203-213, 2003. crossref(new window)

C. H. Kim, H. W. Chang, and W. J. Chung, "Autonomous parking of amodel car with travel-distance based path tracking control", Proceeding of the KSPE 2008 Autumn conference, pp.483-484, 2008. (In Korean)

M. A. Fairus, S. N. S. Salim, J. W. Jamaludin, and M. N. Kamarudin, "Development of an automatic parallel parking system for nonholonomic mobile robot", 2011 International Conference on Electrical, Control and Computer Engineering (INECCE), pp.45-49, 2011.

M. R. Heinen, F. S. Osorio, F. J. Heinen, and C. Kelber, "SEVA3D: Autonomous vehicles parking simulator in a three-dimensional environment" J. Comput. Sci., Vol.6, No.2, pp.63-70, 2007.