Cdng trinh Khoa hoc
NGHIEN CUtf HE THONG TU DONG DUA 6 TO VAO VI TRI DO
ThS. VCI VAN TAN KS. T^ THI THANH HLY EN Bdmon Co khi 6 to Khoa Ca kill
Tnr&ng Dgi hgc Giao thdng J an lai
Tdm Idt: He thong lu dong dua 6 Id vdo vi tri do Id mot he ihong mdi dirge trang bi tren cdc 6 to hien dgi. Hi thdng co tdc dung ho trg ngudi ldi (chu dgng hoat hdn chu ddng) de dua 6 to vdo VI tri do. Bdi bdo tap Irung vdo xdy dung quy dao chuyin dong cua d to khi vdo vi tri do trong trudng hgp 6 to dd song song vai dudng hiin cua hdi do vd sir dung phdn mem Matlab/Simulink di md phong.
Summary: The automatic system controlling aulomohile lo parking place is a new system which is used on modern aulomohile The system is used la help (active or semi-aclive) drivers control their aulomohile la parking place The article concenlrales lo establish automobile trajectory whenautomabile location paralletswith parking place border and uses Matlab/simulink to simulate.
I. DAT VAN DE
Ngay nay, tai cac thanh phd Idn vdi viec dan sd khdng ngirng ting, keo theo dd li cac phuang ti?n giao thdng ciing phai tang theo. Tuy nhien dien tich cua eae bii dd d td lai rat han hep, dieu nay gay khd khan khdng nhd trong qua trinh dua d to vio bai do. Chinh vi le dd viec nghien ciiu h? thdng ty ddng dua d td vao vj tri d6 dugc sy quan tam rat ldn ciia cac hang xe ndi tieng tren the gidi va da dupc ung dyng trong thuc te d mdt sd dong xe cao cap ciia mdt sd hang nhu Ford, BMW, Audi, Mercedes-Bend...
II. HE THONG TlTfiONG DUA 6 TO VAO VI TRJ DO
Trong qua trinh tham gia giao thdng, khi mudn dirng dd xe tai bai dd cd cac dang la tiln, liii dd xe vio chudng, vi tien, liii dd xe song song vdi le dudng (hinh I).
faaa (»..,.•.)'
Hinh I. So' do dua d id lui vdo chudng Hinh 2. Sa do dira 6 to liin vdo chudng
30 Tap ciii KHOA HOC GIAO THONG VAN TAI S6 43 - 09/2013
Cdng trinh Khoa hgc
Hinh 3. Sa do dua 6 to lui vdo li dudng Hinh 4. Sa do dua d to liin vdo li dudng He thdng tu ddng dua d td vio vi tri do duoc hoat dpng dua tren cic thdng tin ve kich thudc vi tri do. vj tri tuong quan ctia d td vdi vi tri dd thdng qua cic cam bien. Tren d td cd gin cic cam bien do khoang each d phia trudc, sau vi 2 ben canh (hinh 5).
hroiil U i'diiut
•;fin:-;rr;
•&
Whe&. Er,-i;<le- DstaiicB Sani^ors
Hinh 5. 17 tri cdc cam bien duac Irang hi tren d to
Sa dd qua trinh lim viec cua he thdng tu ddng dua d td liii vio chudng duac the hien nhu hinh 6 va ty ddng dua d td dd vao ben dudng nhu hinh 7.
Hinh 6. Mo id qud Irinh tu dpng dua 6 to vdo chudng
Hinh 7. Md la qud trinh lu dpng dua 6 to vdo li dudng
Tap clii KHOA H O C G I A O THONG VAN TAI So 43 - 09/2013 31
Cdng trinh Khoa hgc
III. MO PHONG H E THONG TlT DONG DirA 6 TO VAO VI TRI DO.
Sa do chuyen ddng cua d td trong qui trinh do ty dgng vao ben ll dudng dugc the hien trong hinh 8.
Trong qua trinh ty dpng dd d td thi d td se trai qua 4 giai dogn:
+ Giai doan I: O td di thing, trong giai doan nay d td cd nhiem vu tim vu tri dd (xic dmh kich thudc vi tri do vi tuang quan ciia d td vdi vi tri dd), ket thuc giai doan I d td den vi tri B, ddng thdi thuc hien thao tie chuyen sd liii vi dinh lai sang ben trii mdt gdc 45"
Quang dudng d td di chuyen trong giai doan I:
X=Xa + Xd (1) , + R s 2 ) - R , (2)
Hinh 8, Sa do chuyin ddng ciia 6 to trong qud trinh do 6 td song song
Op =
-)
Trong do: Xd= -jCR-si
+ Giai doan II: O td thyc hien quay vdng sang ben trai, vdi tam quay vdng Ii dilm C. Ket thiic giai doan II, banh xe sau ben trai den diem O.
. , A -1 X ,
Goc quay cua tam eau sau: a = tan ——
Rsi
Binh xe sau ben trai ciia d td dichuyin mdt cung trdn (Op):
^ - ^ x 2 7 t x ( R s i - - ) 360 2
+ Giai doan III: 6 td thyc hien quay vdng sang ben phai, vdi tam quay vdng la diem A.
Kit thiic giai doan III d td di song song vdi dudng bien bai dd.
Banh xe sau ben trai ciia d td di chuyen mdt cung trdn (Oq):
= i X 2JI X (Rsi + - ) 360 ' '- 2^
+ Giai doan IV; 6 td tiln len vi tri tam bai do, kit thiie giai doan IV la ket thiic qua trinh dd d td tu dpng
Dua tren ea sd Iy thuyit nhu tren, ciing vdi su hd trp ciia phin mim Matlab/Simulink. Kit qua md phdng dupc thi hien cac giai doan dupc thi hien trong hinh 9.
IV. KET LUAN
He thdng ty dpng dua d td vao vj tri dd dang dupe nghien ciiu va img dung tren mdt sd d td hien dai. Viee xic djnh quy dao chuyln ddng eiia d td vi md phdng thanh cdng nguyen ly he thdng nay trong trudng hgp dua d td vao bai dd song song la eo sd de hoin thien nguyen ly cua he thdng trong mgi trudng hgp do d td.
Oq =
:)
(3)
(4)
(5)
32 Tjp chi KHOA HOC GIAO THONG V^N TAI So 43 - 09/2013
Cong trinh Khoa hgc
a. Quy dgo chuyen ddng cua 6 tda giai doan I b. Quy dgo chuyen dgng ciia d tod giai doan ll
i
P I
c. Qup dgo chuyin dpng ciia 6 to a giai dogn III d. Qup dgo chuyen dong ciia 6 td a giai dogn IV Hinh 8. Mo phong cdc giai doan tu dpng do xe
Tii li^u tham khio
[I]. Cao Trpng Hien, Ddo Mgnh Hiing (2010); Ly thuyit 6 td; NXB Giao thong vin tii.
[2]. Nguyin Khdc Trai (2005); Ciu tao gim 6 to; NXB Giao thong vgn tai.
[3]. Ankil Gupta, Rohan Divekar (2010); Autonomous parallel parking methodology for Ackerman configured vehicles.
[4], Emmanuel G. Collins, Yanan Zhao {20\2y, Fuzzy Logic Control of Autonomous Vehicles for Parallel Parking Maneuver.
[5]. Johan Jernstrom (2008); Autonomous Parallel Parking.
[6]. Mohammed Mukbil, Suhey Al-Dafri. Tarik Ozkul (lOOS); A Fuzzy logic Hieararchical Driver Aid for Parallel Parking.
[7]. Shth-Jie Chang, Tzuu-Hseng S. Li (2003); Autonomous Fuzzy parking control o f a car-like mobile robot.
[8]. SH.Azadi. Z. Taherkhani (2012); Autonomous parallel parking of a car based on parking space detection and Fuzzy controller*
Phan bifn: PGS. TS. Qko Manh Himg
Tap chi KHOA HQC GIAO THONG VAN TAI So 43 - 09/2013 33
