The project Automation of reverse parking using rules and logic, - PowerPoint PPT Presentation

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The project Automation of reverse parking using rules and logic, regardless of the size of the trailer and its tractor. #ITEC2019 The Problems 1) The mathematics for the dynamic of a multiple axles trailer being pushed-back 2) The skill of

The project Automation of reverse parking using rules and logic, regardless of the size of the trailer and its tractor. #ITEC2019
The Problems 1) The mathematics for the dynamic of a multiple axles trailer being pushed-back 2) The skill of driving 3) The algorithm to always find a parking maneuver, whatever the configuration #ITEC2019
Methods used to solve the aforementioned problems 1) High-Frequency sampling to discretize the tractory 2) Control-Loops 3) State-Machine #ITEC2019
Chassis Simulation 1) The tractrix of Liebniz 2) Mathematical formulation 3) High-Frequency sampling to discretize the tractory #ITEC2019
Tractory discretization B1 at t1 B0 at t0 dx B0 at t0 B1 at t1 leash leash M1 at t1 M0 at t0 dx M0 at t0 M1 at t1 #ITEC2019
High-Freq Sampling pros - Basic Newton’s laws & vector algebra - Angle based control-loops including user defined delays - Well adapted to real-time drawing and checking #ITEC2019
High-Freq Sampling cons - Needs 30 Hz or above for a better accuracy of the tractory approximation - Short term prediction only - Needs a real-time engine #ITEC2019
Validation #ITEC2019
Driving Skills - Steering the driving wheels - Getting & Keeping the hitch angle #ITEC2019
Jackknife Angle - The jackknife problem - Empirically finding the jackknife angle - Computing the minimum turn radius in forward and reverse modes #ITEC2019
Jackknife Resolution #ITEC2019
Maneuver Logic #ITEC2019
Maneuver Test #ITEC2019
The 3 points Algorithm #ITEC2019
Realignment Sometimes the cornering will fail aligning the trailer correctly after the Gate point; Then, need to realign by moving forward; Automatic triggering from the state-machine. #ITEC2019
Short trailer parking #ITEC2019
Final State-Machine #ITEC2019
Long Trailer Parking 1 #ITEC2019
Long Trailer Parking 2 #ITEC2019
Conclusion Discretization provided the same accuracy as complex maths. Basic control loops allowed precise alignments and turns. A single state-machine was enough to solve most configurations. #ITEC2019
Thank-you ! Any Question ? #ITEC2019

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