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.
| Original language | English |
|---|---|
| Title of host publication | The 3rd International Conference on Advances in Computational Tools for Engineering Applications (ACTEA 2016) |
| Number of pages | 6 |
| Publication status | Published - Jul 2016 |
Fields of science
- 206002 Electro-medical engineering
- 207109 Pollutant emission
- 202 Electrical Engineering, Electronics, Information Engineering
- 202027 Mechatronics
- 202034 Control engineering
- 203027 Internal combustion engines
- 206001 Biomedical engineering
JKU Focus areas
- Mechatronics and Information Processing