Ultrasonic Sensor Modeling for Automatic Parallel Parking Systems in Passenger Cars

Degerman, Pär; Pohl, Jochen; Sethson, Magnus

doi:10.4271/2007-01-1103

Cited by 11 publications

(5 citation statements)

References 2 publications

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“…The overall STD for offset is 2. 3 and 0.64 ∘ for orientation deviation. This shows that the proposed approach is capable of providing consistently satisfactory parking accuracy under environment changes.…”

Section: B Results On Parking Accuracymentioning

confidence: 99%

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Vision approach towards fully self-reverse parking system

Tan

Htet

2014

2014 IEEE International Conference on Mechatronics and Automation

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Some commercial vehicle models have been equipped with semi-autonomous parking systems to a certain extent. But gaps to fully automated solutions still exist and cost considerations further constrain their acceptance among consumers. In this paper, we propose a low-cost vision-based approach to a fully self-reverse parking system. It consists of four key modules: image processing incorporated with Kalman filter for consistent vehicle pose estimation, path planning ensuring a feasible path under any starting pose, a modified sliding mode controller (SMC) for smooth path following and an overall control scheme to ensure final parking accuracy. Experiment results based on 200 on-field tests under different illumination conditions showed that the system can park the vehicle accurately and consistently in all cases with a 4.8 RMS offset distance from center line and 1.23 ∘ RMS orientation deviation. With its easy setup and excellent performance, it can be implemented onto existing vehicles practically and robustly with minimal additional cost.

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Section: B Results On Parking Accuracymentioning

confidence: 99%

“…[1], [2]). However, it often fails for reverse parking because the incident angle between the sensor and nearby vehicle side facets is too large [3]. Moreover, the parking accuracy depends on the nearby vehicle orientation.…”

Section: Introductionmentioning

confidence: 99%

Vision approach towards fully self-reverse parking system

Tan

Htet

2014

2014 IEEE International Conference on Mechatronics and Automation

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“…So, a reversing path of vehicle should ensure that the body reference points don't enter the restricted area. When referring to characteristics of ultrasonic sensors, Degerman et al (2007) highlight that owing to the nature of ultrasonic sensors, they can only be utilized in parallel parking. A fact that the robustness of the detection of ultrasonic sensors is worse than that of radars is found by Jung and Cho (2008).…”

Section: Ultrasonic Sensor and Radar Technologymentioning

confidence: 99%

Automatic parking of vehicles: A review of literatures

Wang

Song

Zhang

et al. 2014

Int.J Automot. Technol.

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Collision accidents often occur during parking or reversing cars. In allusion to this point, this paper conducts a review of literatures on automatic parking. To begin with, a brief introduction of automatic parking including its background and significance is given. Then its commercial application, research status and latest progress are summarized which include visual perception, ultrasonic sensors and radar technology, path planning, control algorithms based on fuzzy theory, neural network, image processing and recognition technology, and digital signal processing technology, etc. On further analysis, some reasonable conclusions are drawn and the future work is suggested.

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“…The physics-based sensor models have a high fidelity in the simulation of raw sensor data [22]- [25]. Recently, ray tracing has become a key technology in this field that allows the simulation of different sensors, such as radars [26]- [28], LiDARs [29], cameras [30], and ultrasonic sensors [31]. A scalable, generic physically-based simulator using ray tracing is proposed in [32].…”

Section: A Related Workmentioning

confidence: 99%

Object-Level Data-Driven Sensor Simulation for Automotive Environment Perception

Lindenmaier

Aradi

Bécsi

et al. 2023

IEEE Trans. Intell. Veh.

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The gradually evolving automated driving and ADAS functions require more enhanced environment perception.The key to reliable environmental perception is large amounts of data that are hard to collect. Several simulators provide realistic, raw sensor data based on physical sensor models. However, besides their high price, they also require very high computation capacity. Furthermore, most sensor suppliers provide high-level data, such as object detections, that is complicated to reproduce from simulated raw sensor data. This paper proposes a method that directly simulates the detections or object tracks provided by smart sensors. The model involves several uncertainties of the sensors, such as missed-, false detections, and measurement noise. In contrast to the conventional sensor models, this method tackles with state-dependent clutter model and considers the field of view in the detections model. The parameters of the proposed model are identified for an automotive smart radar and camera based on pre-evaluated real-world measurements. The resulting model provides synthetic object-level data with higher fidelity than the conventional probabilistic models, differing less than 2% from the precision and recall metrics of the actual sensors.

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Ultrasonic Sensor Modeling for Automatic Parallel Parking Systems in Passenger Cars

Cited by 11 publications

References 2 publications

Vision approach towards fully self-reverse parking system

Vision approach towards fully self-reverse parking system

Automatic parking of vehicles: A review of literatures

Object-Level Data-Driven Sensor Simulation for Automotive Environment Perception

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