[attachment=15325]
VEHICLE CONTROL SYSTEM FOR AUTOMATIC VALET PARKING USING INFRASTRUCTURE SENSORS
INTRODUCTION
Autonomous vehicles
Expensive In-Vehicle sensors
Need for Infrastructure Sensors
Reduction In cost
EXISTING SYSTEM
SENSORS
Steering encoder – Front wheel direction
Odometer – Traveled distance
Velocity encoders – Wheel velocities
Electronoic compass – Heading relative mag:north
Accelerometer - Accelaration
Gyroscope (rate-gyro) – Angular rotation(velocity)
RADAR – Vehicle Detection
LIDAR - Vehicle Detection
GPS – Vehicle positioning
AVP SYSTEM
Automatic Parking
Use Infrastructure Sensors
Less In-Vehicle sensors
AVP Server is used
SYSTEM COMPONENTS
COMPONENTS
AVP Server
Infrastructure Sensors
Vehicle Control System
Nomadic Device
SENSORS USED
Add-On Sensors
Digital Compass
Accelerometer
GPS Receiver
In-Vehicle Sensors
Wheel speed Sensors
Yaw rate Sensors
SOFTWARE COMPONENTS
Interface Block
Environment Block
Data Fusion Block
Path planning Block
Path Following Block
Motor Control Block
SOFTWARE COMPONENTS
HARDWARE COMPONENTS
3 Motors
For Brake
For Handle
For Accelerator
Vehicle control System
3 Computers
for sensor data fusion
For path planning
For controlling motors
Add-On sensors
In-Vehicle ensors