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Hough Transform for Parking Space Estimation Using Long Range Ultrasonic Sensors
Linköping University, Department of Mechanical Engineering, Fluid and Mechanical Engineering Systems. Linköping University, The Institute of Technology.
Linköping University, Department of Mechanical Engineering, Fluid and Mechanical Engineering Systems. Linköping University, The Institute of Technology.
Linköping University, Department of Mechanical Engineering, Fluid and Mechanical Engineering Systems. Linköping University, The Institute of Technology.
2006 (English)In: SAE Technical Paper, Detroit: SAE , 2006, 2006-01-0810- p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes a system for supporting the driver of a passenger car in different parking situations. Todays cars are getting larger in size and the drivers view in both forward and rearward direction is becoming more limited. This fact calls for a system of sensors and algorithms capable of supporting the driver through the parking maneuvre in a safe and smooth way.

The paper presents the development of some of the subsystems in a fully automatic parallel parking system, utilizing ultrasonic ranging sensors for environment mapping. In contrast to existing passive parking aid systems, the ultrasonic range sensors need to have a narrower aperture to be able to map the surroundings properly. This can be accomplished by either increased sensor size or by a higher number of sensors.

The emphasis of the paper is the signal conditioning in the parking system. The Hough-transform along with a statistical CUSUM test are used to find the properties of the target parking space.

The system makes use of hardware components already available in modern cars and a small number of added components. The resulting system is automated, from finding a suitable parking space to maneuvering the car into the parking space, while keeping the driver in authority since the longitudinal control, i.e. throttle and brakes, are still the drivers responsibilities.

The prototype system is implemented in a Volvo S60 which has been modified with an electric power steering unit and an ultrasonic sensor array consisting of a total of six sensors spread out around the vehicle. The electric power steering unit is used for steering wheel angle control when the system is active by adding an external torque to the assist torque normally applied.

Place, publisher, year, edition, pages
Detroit: SAE , 2006. 2006-01-0810- p.
Keyword [en]
automatic parking systems, ultrasonic sensing
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-36020DOI: 10.4271/2006-01-0810Local ID: 29427OAI: oai:DiVA.org:liu-36020DiVA: diva2:256868
Conference
SAE 2006 World Congress & Exhibition. Detroit, USA. April 3-6, 2006
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-12-12
In thesis
1. Automatic parallel parking: park assist systems for passenger vehicles
Open this publication in new window or tab >>Automatic parallel parking: park assist systems for passenger vehicles
2007 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis discusses how the problem of parking a passenger car can be solved. There ane numerous obstacles when creating a fully or semi automated system for assisting the parking maneuver. The obstacles range from unobtrusive Man Machine Interface issues to robust algorithms for finding features in sensor data.

Such a system will also have to cope with ever changing environments, most of which will not be discovered during the design phase. Misuse will also be common, since the function is aimed at a mass market - the car buyers. These interesting problem areas is also coupled with the customer value. A car buying customer today aims at feature content and comfort. So for a parking system to survive it needs to be extremely intuitive; the customer value must be discovered during a short test drive with the vehicle. A learning period before the user can operate the system is not feasible.

The work presented here proposes an interesting algorithm for finding parking space features in sensor data collected using ultrasonics. The algorithm, which is based on the well known Hough transform have been proved to be robust in real world experiments.

Furthermore it is also investigated how critical the mount ing of the environment sensing subsystem is. Where should the sensors be placed and where should they be facing to maximize the performance.

Emphasis have also been put on designing a functional architecture that fits in the car development process of today. The implementation of a system in a car must fit in the platform and component reuse is critical to keep cost down.

To test theories developed during the work a prototype car has been used. The prototype is essential to analyze the robustness of algorithms in different parking scenarios. It has also been an invaluable tool when conducting customer surveys to find where the customer value of these kind of systems is.

Place, publisher, year, edition, pages
Linköping: Linköpings universitet, 2007. 42 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1287
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-41269 (URN)55422 (Local ID)91-85643-14-9 (ISBN)55422 (Archive number)55422 (OAI)
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-12-12

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Degerman, PärPohl, JochenSethson, Magnus

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