Simulating the effect of ultrasonic ranging errors on parallel parking performance

Rohit Garg; Gabriele Zanardo; Roman Schmied; Luigi Del Re

doi:10.1109/ACTEA.2016.7560123

Simulating the effect of ultrasonic ranging errors on parallel parking performance

Rohit Garg
, Gabriele Zanardo
, Roman Schmied
, Luigi Del Re

Institut für Maschinelle Intelligenz

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

Abstract

This paper investigates the effect of sensor errors on the parallel parking performance of an intelligent park assist system. A path planning algorithm has been employed for generating a trajectory that maneuvers the car into the empty space in one trial. Different control schemes have been implemented for lateral steering control of the vehicle to track the trajectory generated by the planning algorithm. The control schemes include different combinations of PD and non-linear control. All simulations are carried out within the IPG CarMaker(R) and Simulink (R) environments. Positioning and sensor errors are modeled in the simulation environment and are applied to an ideal ultrasonic sensor module from CarMaker. Multiple parallel park simulations are run and the effect of these errors on the parking performance is shown with respect to the different control schemes employed.

Originalsprache	Englisch
Titel	The 3rd International Conference on Advances in Computational Tools for Engineering Applications (ACTEA 2016)
Seiten	114-119
Seitenumfang	6
ISBN (elektronisch)	9781467385237
DOIs	https://doi.org/10.1109/ACTEA.2016.7560123
Publikationsstatus	Veröffentlicht - 02 Sep. 2016

Wissenschaftszweige

206002 Elektromedizinische Technik
207109 Schadstoffemission
202 Elektrotechnik, Elektronik, Informationstechnik
202027 Mechatronik
202034 Regelungstechnik
203027 Verbrennungskraftmaschinen
206001 Biomedizinische Technik

JKU-Schwerpunkte

Mechatronics and Information Processing

Zugriff auf Dokument

10.1109/ACTEA.2016.7560123

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Verknüpfung zur Publikation in Scopus

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abstract = "This paper investigates the effect of sensor errors on the parallel parking performance of an intelligent park assist system. A path planning algorithm has been employed for generating a trajectory that maneuvers the car into the empty space in one trial. Different control schemes have been implemented for lateral steering control of the vehicle to track the trajectory generated by the planning algorithm. The control schemes include different combinations of PD and non-linear control. All simulations are carried out within the IPG CarMaker(R) and Simulink (R) environments. Positioning and sensor errors are modeled in the simulation environment and are applied to an ideal ultrasonic sensor module from CarMaker. Multiple parallel park simulations are run and the effect of these errors on the parking performance is shown with respect to the different control schemes employed.",

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