Journal of Jilin University(Engineering and Technology Edition) ›› 2022, Vol. 52 ›› Issue (7): 1552-1560.doi: 10.13229/j.cnki.jdxbgxb20210142

Previous Articles    

Performance evaluation of automatic parking system based on hardware in the loop simulation platform

Jia-xu ZHANG1,2(),Chong GUO1,Chen WANG1,Jian ZHAO1(),Xin-zhi WANG1   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.Intelligent Network R&D Institute，China FAW Group Co. ，Ltd. ，Changchun 130011，China
  • Received:2021-02-21 Online:2022-07-01 Published:2022-08-08
  • Contact: Jian ZHAO E-mail:zhjx_686@163.com;zhaojian@jlu.edu.cn

RICH HTML

 5   

PDF (PC)

120

Abstract:

In view of the difficulty in quantifying the parking success rate of automatic parking system in the narrow environment， a performance evaluation method for automatic parking system based on hardware in the loop simulation platform is proposed. Firstly， the boundaries of the feasible parking starting region and the needed minimum lateral space for parallel parking and perpendicular parking are established based on the combination of arc and line， and the area of the feasible parking starting region is calculated by image segmentation method. Then， the hardware in the loop simulation platform is established， and the automatic test framework is designed based on Python to test the actual parking starting region of automatic parking system. The ratio of the actual parking starting region to the feasible parking starting region is taken as the parking success rate of automatic parking system in the narrow environment， which can make up for the limitations of the existing performance evaluation methods of the automatic parking system. Finally， an automatic parking system made by an auto components company is taken as test object to validate the proposed performance evaluation method of automatic parking system， and the results show that the proposed method is feasible and efficient， and can improve the performance of test object.

Key words: vehicle engineering, automatic parking system, performance evaluation, parking success rate, hardware in the loop simulation, automatic test

CLC Number: 

  • U461.1

Fig.1

Schematic diagram of Ackerman steering geometry"

Fig.2

Boundary of feasible parallel parking starting region"

Fig.3

Minimal lateral space requirement of parallel parking"

Fig.4

Boundary of feasible perpendicular parking starting region"

Fig.5

Minimal lateral space requirement of one step perpendicular parking"

Fig.6

Architecture of hardware in the loop simulation platform"

Fig.7

Automatic test framework for actual parking starting region"

Fig.8

Hardware in the loop simulation platform"

Fig.9

Feasible and actual parallel parking starting regions"

Fig.10

Outer of envelope of vehicle in parallel parking scenario"

Fig.11

Feasible and actual perpendicular parking starting regions"

Fig.12

Outer of envelope of vehicle in perpendicular parking scenario"

1 Tan J Y, Xu C L, Li L, et al. Guidance control for parallel parking tasks[J]. IEEE/CAA Journal of Automatica Sinica, 2020, 7(1): 301-306.
2 Li B, Wang K X, Shao Z J. Time optimal maneuver planning in automatic parallel parking using s simultaneous dynamic optimization approach[J]. IEEE Transactions on Intelligent Transportation Systems, 2016, 17(11): 3263-3274.
3 Suhr J K, Jung H G. Automatic parking space detection and tracking for underground and indoor environments[J]. IEEE Transactions on Industrial Electronics, 2016, 63(9): 5687-5698.
4 Jang C, Kim C, Lee S, et al. Re-plannable automated parking system with a standalone around view monitor for narrow parking lots[J]. IEEE Transactions on Intelligent Transportation Systems, 2020, 21(2): 777-790.
5 张家旭, 赵健, 施正堂, 等. 基于回旋曲线的垂直泊车轨迹规划与跟踪控制[J]. 东南大学学报:自然科学版, 2020, 50(1): 182-191.
Zhang Jia-xu, Zhao Jian, Shi Zheng-tang, et al. Trajectory planning and tracking control perpendicular parking based on clothoid curve[J]. Journal of Southeast University (Natural Science Edition), 2020, 50(1): 182-191.
6 Zhang X J, Liniger A, Sakai A, et al. Autonomous parking using optimization-based collision avoidance[C]∥IEEE Conference on Decision and Control, Miami Beach, USA, 2018: 4627-4632.
7 Zips P, Bock M, Kugi A. Optimisation based path planning for car parking in narrow environments[J]. Robotics and Autonomous Systems, 2016, 79: 1-11.
8 Du X X, Tan K K. Autonomous reverse parking system based on robust path generation and improved sliding model control[J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(3): 1225-1237.
9 张家旭, 赵健, 施正堂, 等. 采用hp自适应伪谱法的全自动泊车系统轨迹规划与跟踪控制[J]. 西安交通大学学报, 2020, 54(6): 176-184.
Zhang Jia-xu, Zhao Jian, Shi Zheng-tang, et al. A trajectory planning and tracking control method for fully-automatic parking system using hp-adaptive pseudo spectral method[J]. Journal of Xi'an Jiaotong University, 2020, 54(6): 176-184.
10 Sun C Y, Zhang X, Xi L H, et al. Design of a path-tracking steering controller for autonomous vehicles[J]. Energies, 2018, 11(6): 1-17.
11 . Intelligent transport systems—assisted parking system (APS)—performance requirements and test procedures [S].
12 IVISTA-APS, 2019. 智能泊车辅助系统性能要求和测试规程(征求意见稿) [S].
13 周莎, 钟颖, 闫晓雷. 自动泊车系统性能评价方法[J]. 长安大学学报:自然科学版, 2020, 40(2): 109-116.
Zhou Sha, Zhong Ying, Yan Xiao-lei. Evaluation method of automatic parking system performance[J]. Journal of Chang'an University (Natural Science Edition), 2020, 40(2): 109-116.
14 Reeds J, Shepp L. Optimal paths for a car that goes both forwards and backwards[J]. Pacific Journal of Mathematics, 1990, 145(2): 367-393.
15 Zhang J X, Shi Z T, Yang X, et al. Trajectory planning and tracking control for autonomous parallel parking of a non-holonomic vehicle[J]. Measurement and Control, 2020, 50(1): 182-191.
16 张家旭, 赵健, 施正堂, 等. 基于回旋曲线的平行泊车路径规划与跟踪控制[J]. 吉林大学学报:工学版, 2020, 50(6): 2247-2257.
Zhang Jia-Xu, Zhao Jian, Shi Zheng-tang, et al. Path planning and tracking control for parallel parking based on clothoid curve[J]. Journal of Jilin University (Engineering and Technology Edition), 2020, 50(6): 2247-2257.
17 Tan J Y, Xu C L, Li L, et al. Guidance control for parallel parking tasks[J]. IEEE/CAA Journal of Automatica Sinica, 2020, 7(1): 301-306.
18 Jeong Y, Kim S, Jo B R, et al. Sample based vehicle motion planning for autonomous valet parking with moving obstacles[J]. International Journal of Automotive Engineering, 2018, 9(4): 215-222.
[1] Hong-bo YANG,Wen-ku SHI,Zhi-yong CHEN,Nian-cheng GUO,Yan-yan ZHAO. Optimization of tooth surface modification based on a two-stage reduction gear system [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(7): 1541-1551.
[2] Shuai HAO,Chuan-tai CHENG,Jun-nian WANG,Jun-yuan ZHANG,You YU. Ergonomic optimization and test evaluation of sports SUV cockpit layout design [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(7): 1477-1488.
[3] Chen HUA,Run-xin NIU,Biao YU. Methods and applications of ground vehicle mobility evaluation [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(6): 1229-1244.
[4] Xiong LI,Feng-chong LAN,Ji-qing CHEN,Fang TONG. Comparison of injuries in front impact between Hybird III dummy model and CHUBM human biomechanical model [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(6): 1264-1272.
[5] Ying-chao ZHANG,Yun-hang LI,Zi-yu GUO,Guo-hua WANG,Zhe ZHANG,Chang SU. Optimization of the aerodynamic drag reduction of a cab behind engine vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(4): 745-753.
[6] Wen-ku SHI,Shu-guang ZHANG,You-kun ZHANG,Zhi-yong CHEN,Yi-fei JIANG,Bin-bin LIN. Parameter identification of magnetorheological damper model with modified seagull optimization algorithm [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(4): 764-772.
[7] Wei-min ZHUANG,Shen CHEN,Di WU. Influence of strengthening form of CFRP on transverse impact performance of steel tube [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(4): 819-828.
[8] Jie LI,Tao CHEN,Wen-cui GUO,Qi ZHAO. Pseudo excitation method of vehicle non-stationary random vibration in space domain and its application [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(4): 738-744.
[9] Wei LI,Hai-sheng SONG,Hao-yu LU,Wen-ku SHI,Qiang WANG,Xiao-jun WANG. Linear identification method of hysteresis characteristic of composite leaf springs [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(4): 829-836.
[10] Liang DUAN,Chun-yuan SONG,Chao LIU,Wei WEI,Cheng-ji LYU. State recognition in bearing temperature of high-speed train based on machine learning algorithms [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(1): 53-62.
[11] Wei-min ZHUANG,Shen CHEN,Nan WANG. Influence on thermal stress of autobody steel-aluminum clinch-adhesive connection structure [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(1): 70-78.
[12] Jian-bin CHEN,Song-ze ZHOU,Feng-yong FEI,Yong-long CHEN,Guo-ping LING. Influences of interference fit and knurling connection type on press fitting failure of assembled camshaft [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 1959-1966.
[13] Xing-jun HU,Jing-long ZHANG,Yu-fei LUO,Li XIN,Sheng LI,Jin-rui HU,Wei LAN. Influence investigation of cooling tube structure and airflow direction on thermal⁃hydraulic performance of air⁃cooled charge air cooler [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 1933-1942.
[14] Yong LUO,Yong-heng WEI,Huan HUANG,Ren-jie XIAO,Lin REN,Huan-yu CUI. Starting control of P2.5 plug⁃in hybrid configuration dual⁃clutch based on driver's intention recognition [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(5): 1575-1582.
[15] Xiao-hua ZENG,Mei-jie SONG,Da-feng SONG,Yue WANG. Data processing method of bus driving cycle based on vehicular network information [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(5): 1692-1699.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd