AN OPTIMAL APPROACH FOR AUTONOMOUS PARALLEL PARKING OF NONHOLONOMIC VEHICLE

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1 AN OPTIMAL APPROACH FOR AUTONOMOUS PARALLEL PARKING OF NONHOLONOMIC VEHICLE I.Pavithra, S.Pradheep Kumar,V.Sharmila,N.K.Senthil,R.Prasanna Department of ECE, Knowledge Institute of Technology, Salem, India Received: 03/01/2017, Revised: 03/02/2017 and Accepted: 05/03/2017 Abstract The goal of this project is to design a simple prototype parking system that can perform parallel parking maneuvers autonomously. This system would include a series of ultrasonic sensors as well as a central microcontroller that controls the car. The autonomously parallel parking car first senses its surroundings with a series of ultrasonic sensors placed around the border of the car. These sensors are connected to an Arduino UNO R3, which reads the output voltages from the sensors. The car then moves accordingly, based on values from the sensors. The car is steered by its front wheels. The front axle is connected to a servo motor, which can be written to specific angles based on signals given by the Arduino. The car is driven by its rear wheels, which are controlled by a simple electric motor and H-bridge configuration. The H-bridge enables the motor to switch directions and vary rotation speed. Keywords: H-Bridge, front axle, servo motor, rotation speed, ultrasonic sensor 1. Introduction We created an RC Car that can identify a parking space and parallel park by itself. The RC Car drives down a street searching for a parking space using an ultrasonic sensor.when the car has identified a space, the car checks to see whether that space is large enough to park in. If it determines that there is sufficient space, the car will begin parallel parking into that space. It uses information from sensors placed on the front, right, and rear of the car to direct the car into the parking space. Once the car was parked, it will remain in that position until it is reset. The control system contains all the hardware and its associated software. It allows the parking and parking detection algorithms to interface with the car. The software in this module is broken up into three major sections: the Left-Right/Front-Back (LR/FB) state machines, master state machine, and distance calculations. The LR/FB state machines determines which direction to move the car based on flags set by the detect parking space and park car algorithms. Once the LR/FB state machines decides which direction to move the car, the master state machine implements this movement by sending the correct input and enable signals to the H-Bridge. The distance calculations implemented independently every millisecond. 2. LITERATURE REVIEW 129

2 2.1. Automatic parking lot mapping for available parking space detection Kairoek Choeychuen Telecommunication Engineering, Engineering Faculty Rajamangala University of Technology Rattanakosin 96 moo3 Salaya, Bhuda-monthon, Nakhon-pathom, 73170, Thailand.This paper presents a method to estimate map of parking lot for automatic system of available parking space detection. The parking space detection is important module for the parking guidance system (PGS) that can help drivers to find the parking space efficiently. Instead of masked parking slots by human, we try to mask them by using histograms of spatial features. However, under poor image quality, we face dynamic change of background. Although we have applied adaptive background model for background subtraction, the problem still remains. To overcome this problem, we propose an automatic thresholding for tuning object (car) detection in adaptive background model method. The fine-tuning technique can improve accuracy of the histogram for the parking lot mapping. The experimental results were shown both simulation on the parking model and real parking lot correctly. Keywords- component; automatic parking lot mapping; parking guidance system; automatic thresholding for background subtraction; spatial histograms Automatic Parking Identification and Vehicle Guidance with Road Awareness Guy Krasner, Eyal Katz, Electrical Engineering Department Afeka, Tel Aviv College of Engineering Tel Aviv, Israel.Advanced driver assistance systems (ADAS) are becoming more common in safety and convenience applications. The computer vision based ADAS described in this paper, is an add-on system, suitable to variety of cars. It detects vacant legal parking spots, and safely guides the vehicle into the selected parking. Detection can be performed in both indoor parking lots and along roadsides. The system is composed of three standard computer-connected webcams, which are attached to the vehicle. Upon slowing down, the system starts searching automatically for a right hand-side vacant parking spot, while being aware to parking color signs. Once detected, the parking orientation is determined, and the driver is notified. Once a parking is selected by the driver, the relative position between the vehicle and the parking spot is monitored. Vocal and visual parking guidance instructions are presented to the driver. In addition, if during parking, an object is moving on the road towards the car, a safety alert is given. The system is universal in the sense that, as an add-on system, it can be installed on any private 4-wheeled vehicle, and is suited to urban driving environment. Keywords computer vision, image processing, parking detection, parking guidance, advanced driver assistance systems (ADAS), parking color signs IoT Based Airport Parking System M.Suresh, P.Saravana Kumar, Dr.T.V.P.Sundararajan, Department of ECE, Bannari Amman Institute of Technology, Sathyamangalam, TamilNadu, India.The proliferation of technology paves way to new kind of devices that can communicate with other devices to produce output mostly on wireless communication. Wirelessly communicating embedded devices are brought to one another in a single link over Internet called IoT (Internet of Things). If all objects and people in daily life were equipped with identifiers, computers could manage and inventory them. Besides using RFID, the tagging of things may be achieved through such technologies as near field communication, barcodes, QR codes and digital watermarking. Here new method of using embedded technology to provide such application, Arduino is used as an embedded controller to interface Ethernet shield with a PC/Laptop to provide IoT over Ethernet. A user can use this parking service in the airport scenario provided by airport authority with user ID and password. Whenever a user need to check the 130

3 vehicle in the parking lot, uses the ID and password to logon into the airport web link and view the status of the car in the parking lot using IoT. Keywords IoT (Internet of Things), QR code (Quick Response Code), RFID (Radio-Frequency Identification) Development of a Practical Automatic Parking Technology for Automobiles Minh Quan Dao, Kang-Zhi Liu, Proceedings of the 45th IEEE Conference on Decision & Control Manchester Grand Hyatt Hotel San Diego, CA, USA, December 13-15, 2006.This paper aims at developing a practical automatic parking technology for 4-wheeled cars, which is able to park cars subject to parking space constraint and steering angle saturation. The feedback law is designed based on the switching control method proposed by the authors for chained systems. The focus of this paper is to prove a condition on the state under which the stability is guaranteed even when the steering angle is saturated. The proposed method is validated by numerous parking experiments An Intelligent Parking Management System based on RS485 and RFID Huayu Zhou, Zhihua Li Hangzhou Institute of Service Engineering Hangzhou Normal University Hangzhou, P.R. China.This paper presents a design for an intelligent parking management system, based on the integrated RS485 and RFID. In this system, a vehicle can quickly and easily access to the car park. Such a system uses three-dimensional ultrasonic detection technology. Vehicles are interconnected via RS485 terminal that implements parking data reliable transmission of the information and combines with the RFID technology for vehicle access control. The system has been tested, and the results show that it can substantially optimize the management of car parks, save the administrative costs, and low cost, and it is a reliable system. Keywords- Intelligent parking; RFID technology; Ultrasonic detection. 3. BLOCK DIAGRAM SWITCH Ultrasonic SENSOR Ultrasonic SENSOR (left) ATMEGA 328 H- BRID GE DC GEAR ED MOTO R Ultrasonic SENSOR Ultrasonic SENSOR DC GEARED MOTOR BATTERY 131

4 4. PIN CONFIGURATION 5. WORKING We created an RC Car that can identify a parking space and parallel park by itself. The RC Car drives down a street searching for a parking space to its right using a distance sensor. When the car has identified a space, the car checks to see whether that space is large enough to park in. If it determines that there is sufficient space, the car will begin parallel parking into that space. It uses information from sensors placed on the front, right, and rear of the car to direct the car into the parking space. Once the car was parked, it will remain in that position until it is reset. We use an ST Micro L298HN H-Bridge to control the motors of the RC Car. It allows us to switch between +/-5V across the motor. It also allows us to source the power from the batteries while using the processor to control the transistors in the H-Bridge. The control algorithm turns the appropriate transistors on/off, applying the proper voltage across the brush motor. We power the motors using four AA batteries, which are stored in the battery compartment of the RC car. These batteries supply the Supply Voltage to the H-bridge, which in turn powers the motor. We use a 9V battery to power the PCB. We used three Sharp infrared distance sensors to determine the distance between our car and nearby objects. We placed a sensor on the front, the right side, and the rear of the car. For the front and rear, we used 4-30cm sensors. For the right side, we used we used a 10-80cm sensor. We decided to use a sensor with a larger range for the side so that we could more easily detect a parking space. 132

5 HARDWARE DESCRIPTION ULTRASONIC SENSOR Ultrasonic ranging module HC - SR04 provides 2cm - 400cm non-contact measurement function, the ranging accuracy can reach to 3mm.The modules includes ultrasonic transmitters, receiver and control circuit. Test distance = (high level time velocity of sound (340M/S) / 2. DC Motors: The inner workings of a basic DC motor, The outside section of the motor is the stator (stationary part), while the inside section is the rotor (rotating part).the stator is comprised of two (or more) permanent magnet pole pairs, while the rotor is comprised of windings that are connected to a mechanical commutator. The opposite polarities of the energized winding and the stator magnet attract each other. When this occurs the rotor will rotate until perfect alignment with the stator is achieved. When the rotor reaches alignment, the brushes move across the commutator contacts (middle section of rotor) and energies the next winding. There are two other types of DC motors: series wound and shunt wound. These motors also use a similar rotor with brushes and a commutator. However, the stator uses windings instead of permanent magnets. The basic principle is still the same. A series wound DC motor has the stator windings in series with the rotor. A shunt wound DC motor has the stator windings in parallel with the rotor winding. INTERNAL ARCHITECTURE 133

6 SOFTWARE MODULE Arduino is an open-source electronics prototyping platform based on flexible, easy-to-use hardware and software. It's intended for artists, designers, hobbyists, and anyone interested in creating interactive objects or environments. Arduino can sense the environment by receiving input from a variety of sensors and can affect its surroundings by controlling lights, motors, and other actuators. The micro controller on the board is programmed using the Arduino based programming language (based on wiring) and the Arduino development environment (based on processing). Arduino projects can be stand-alone or they can communicate with software running on a computer (e.g. Flash, Processing, MaxMSP). CIRCUIT DIAGRAM 134

7 METHODOLOGY Motion 1: Finding a Parking Space Motion 2: Reversing Toward Curb Motion 3: Straightening Out Region Mapping: The Pioneer must scan the area, as it is moving along a preprogramed trajectory. This will provide a mapping of the region, and the detection of any nearby obstacles. Given that no obstacles are encountered, the Pioneer will continue on its path looking for parking spots. Parking Spot Detection and Assessment: Once an opening in a row of parked robots is found, the Pioneer will determine if it is suitable by measuring its length and width. No height measurements will be taken into account. Flow Diagram: SCOPE OF THE PROJECT The scope of the project is to model the parallel parking system of non-holonomic vehicles through Embedded Processors. In modern life time and in a busy world it is difficult to find a parking space to park our vehicles. So our project is to 135

8 make the non-holonomic vehicle to park itself by identifying the space and intimate to the owner about the parking details to save our time and concentrate on our works. CONCLUSION The autonomous parking problem attracts a great deal of attention from the research community and the automobile industry because of the complexity of this problem for non-holonomic vehicles and the possibility of numerous practical applications. The parallel parking project has been successful to the extent that the Pioneer robot is capable of detecting a sufficient parking spot for itself, generating an optimal trajectory that it needs to follow, and tracing the trajectory to fit itself into the detected spot. One of the aims of the project was to design the robot so that it would park itself in appropriate path. REFERENCES [1]. This link refers to technical document that contains information about electronic control unit. [2]. this website contains technical articles, books and manuals that help us find what s wrong with our vehicle and what needed to fix it. [3]. David Epsilon, An embedded software premier, Pearson education, [4]. Joshua Pérez, Fernando Saco, Vicente MI lanes, Antonio Jiménez, Julio C. Diaz and Teresa de Pedro, an RFID based Intelligent Vehicle speed controller using active traffic signals, SENSORS 2010, ; doi: /s [5]. Van NE s. N; Houtenbos. M; van SC Hagen. I: Improving Speed behaviour: The Potential of In-Car Speed Assistance and Speed Limit Credibility. IET Intel. Transp. Syst. 2008, 2, [6]. MI lanes, V. Onieva, E. Perez, J. De Pedro, T. Gonzalez, C. Control of VelocidadAdaptativo para EntornosUrbanosCongestionados. Rev. Iberoam, automat. Informat. Ind.2009, [7]. Joachim Langen walter; The Math Works embedded automotive system development process - steer-by-wire system, Design,Automation and test in Europe, Proceedings, vol. 1, pp , Mar [8]. S. Laws, C. Gadda, S. Kohn, P. Yih, J.C Gerdes, J.C Milroy, Steer-by-wire suspension and steering design for controllabilityand observability, 16th IFAC World Congress, Volume 16, part 1,2005. [9]. Se - Wook OH, Ho-Chol CHAE, Seok-Chan YUN and Chang-Soo HAN; The design of a controller for steer-by-wire system ; JSME international Journal, VOl. 47(2004), No. 3, pp [10]. Jose E. Naranjo; Carlos Gonzalez; Garcia, R; de Pedro, T.Haber, R.E.; power-steering control architecture for automatic driving, IEEE transaction Intelligent Transportation System,VOL.6, NO. 4, pp , Dec