Dört Tekerlekten Yönlendirmeli Araçların Otonom Dik Park Yol Planlaması ve İlgili Parametreler

Öz

Bu makalede, dört tekerlekten yönlendirilebilen bir aracın otonom dik park edebilmesi için bir yol planlama yönteminden bahsedilmektedir. Yöntem, aracın kinematik modelini ve geometrik denklemlerini temel almaktadır. Bahsedilen yöntem, aracı park yerinden çıkarmak için planlanan yolu ters yönde kullanarak aracı park etme esasına dayanmaktadır. Aracı geri parka başlamaya uygun konumlandırmak için uzunlamasına manevrayı, park manevrası sırasında yolun maksimum sol taraf kullanımını ve aracın sağ tarafı ile park yeri kenarı arasındaki minimum mesafeyi hesaplamak üzere üç yeni denklem türetilmiştir. Bu denklemler kullanılarak gerekli sürüş koridorunun tanımlanmasına yönelik bir yöntem tanıtılmış ve planlanan otonom dikey park manevrasının uygulanabilirliğinin, aracın çevresel telemetrisi ve kinematiği dikkate alınarak değerlendirilebileceği simülasyonla gösterilmiştir.

Anahtar Kelimeler

• Otonom dik park
• dört tekerlekten yönlendirilebilen araçlar
• yol planlama
• sürücü asistan sistemleri

AUTONOMOUS PERPENDICULAR PARKING PATH PLANNING OF A FOUR-WHEEL STEERED VEHICLE AND RELATED PARAMETERS

Öz

In this paper, a path planning method is introduced to perform the autonomous perpendicular parking of a four-wheel steered vehicle. The method consists of the kinematic model of the vehicle and geometrical equations. Mentioned method is based on retrieving the vehicle from the parking spot and using the same path inversely to park the vehicle. MATLAB simulations are performed with different kinematic properties and positions. Three new equations are derived to calculate the longitudinal maneuver to locate the vehicle at ready to reverse position, the maximum approach to left side of the road during the parking maneuver, and the minimum distance between the right side of the vehicle and edge of the parking space. A methodology is introduced to define the required driving corridor by using these equations and it is shown by simulation that feasibility of the planned autonomous perpendicular parking maneuver can be evaluated by taking environmental telemetry and kinematics of the vehicle into account.

Anahtar Kelimeler

• Autonomous perpendicular parking
• four-wheel steered vehicles
• path planning
• driver assistance systems

Kaynakça

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