Accurate local vehicle dead-reckoning for a parking assistance system

Nonlinear path following control of non‐holonomic vehicles with the human as actuator in a parking application

“…Nevertheless, the control algorithms use the estimated position as the actual position of the vehicle. The validity of this internal position estimation approach was shown in Reference [9] in comparison to measurements taken by a differential global positioning system as reference. Figure 8 shows the trajectory of a sample backward parking procedure with a desired path consisting of a combination of straight lines, circular arcs and clothoids.…”

“…The algorithms developed and implemented in the test vehicle have been described earlier in References [9,10]. So it can be further on assumed, that the estimation of the current vehicle configuration ðx c in Figure 1) are precise enough for the control task.…”

“…It can be further assumed that the no-slip condition applies for the wheels. In the test vehicle, the position within an arbitrarily chosen world coordinate system is calculated via odometry [9]. Introduction of nonlinear input/output relations yields the possibility to treat the real vehicle as the model in Equation (1) [10].…”

Time-scaling in the Control of Mechatronic Systems

“…The position and orientation of the car is estimated using the ABS wheel sensors the signals of which are available on the CAN bus of the vehicle. The description of the estimation algorithm is beyond the scope of this chapter, for similar algorithms the reader may refer to (Kochen at al., 2002). The controller is applied here to track trajectories in parking scenarios.…”

Sistema neural reativo para o estacionamento paralelo com uma única manobra em veículos de passeio

“…Essa consideração permite refletir sobre a simplificação do modelo do veículo. Assim, considerando as hipóteses simplificadoras de não-escorregamento e não-deslizamento, mais a garantia de movimentos em baixas velocidades nos quais a dinâmica é pouco relevante (Zhu e Rajamani, 2006), pode-se aproximar o modelo do carro por um modelo do tipo bicicleta (Pinheiro, 2009), cujas equações cinemáticas estão bem difundidas (Kochem et al, 2002). A Equação 3.2b mostra o modelo cinemático de bicicleta utilizado:…”