Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Development and Evaluation of Automatic Steering System for Parallel Parking

평행주차를 위한 자동 조향 제어시스템 개발 및 성능평가

  • Lee, Dae Hyun (Institute of Agricultural Science, Chungnam National University) ;
  • Kim, Yong Joo (Department of Biosystems Machinery Engineering, Chungnam National University) ;
  • Kim, Tae Hyeong (Future IT Convergence Lab., LG electronics Inc.) ;
  • Chung, Sun Ok (Department of Biosystems Machinery Engineering, Chungnam National University) ;
  • Choi, Chang Hyun (Department of Bio-Mechatronic Engineering, Sungkyunkwan University)
  • Received : 2015.11.06
  • Accepted : 2016.02.17
  • Published : 2016.03.01
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Abstract

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 $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

Keywords

Acknowledgement

Grant : BK21플러스

Supported by : 충남대학교

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