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Autonomous / Assisted Parking System for Semi-Trailers (APST)

Autonomous / Assisted Parking System for Semi-Trailers (APST). Adel Mozip (CE) Mohamed Nasser (EE) Advisor: Dr. Natarajan. Acknowledgement. Dr. N. Natarajan Dr. J. Miller Mohamed Omar Mukhtar Oudeif Dr. Sengupta Dr. Murphey Campus Safety Jesse Shop Microchip.com.

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Autonomous / Assisted Parking System for Semi-Trailers (APST)

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  1. Autonomous / Assisted Parking System for Semi-Trailers (APST) Adel Mozip (CE) Mohamed Nasser (EE) Advisor: Dr. Natarajan

  2. Acknowledgement • Dr. N. Natarajan • Dr. J. Miller • Mohamed Omar • Mukhtar Oudeif • Dr. Sengupta • Dr. Murphey • Campus Safety • Jesse Shop • Microchip.com

  3. APST Objective • To design a prototype of an autonomous/assistant parking system for a semi-trailer.

  4. APST Components • Transmitting Unit Camera • Scanning Frequency: 50HZ • Output Frequency:1.2Ghz • Transmission Signal: Video, Audio • Linear Transmission Distance:50-100m • Voltage: DC+9V • Current: 300mA

  5. APST Components (Cont’d) • Bluetooth Modem - BlueSMiRF Gold (sparkfun.com) • Operating Voltage: 3.3V-6V • Frequency: 2.4~2.524 GHz • Transmission distance 100m • Baud rate speeds: 1200bps up to 3Mbps • Serial communications: 2400-115200bps • Dimensions With antenna 13.2(W)X25.8(L)X2.05(H)mm • Standby power consumption: 25mA

  6. APST Components (Cont’d) • PIC16F690 • 20-Pin Flash-Based • Wide operating voltage range (2.0V-5.5V) • Software selectable frequency (8MHz to 32kHz) • Operating current 1mA @ 4MHz, 5.5V, typical • 17 I/O pins and 1 input only pin • A/D Converter • PWM and I2C™.

  7. APST Components (Cont’d) • Quadruple Half-H Driver (SN754410) • Designed for Positive-Supply Applications • Wide Supply-Voltage Range of 4.5 V to 36 V • Separate Input-Logic Supply • 3-State Outputs • Low Power Dissipation

  8. APST Components (Cont’d) • Two Black Project Boxes • Three Ball casters • Circular and Right angle nails

  9. APST Components (Cont’d) • 9 vlot power supply (battery) • 5 volt regulator LM2937 • Capacitors • Resistors • PCB • Wires

  10. APST Applications • APST utilized both hardware and software applications: • Image Processing • Communication • Embedded Control System

  11. APST: Image Processing • Approach with Matlab:

  12. APST: Image Processing • Algorithms Considered: • Hough Transform • RANSAC • Simple Line Fit • Looking ahead

  13. APST: Image Processing

  14. APST: Image Processing Line Curve-fit

  15. Calculations X’C= -VI Sin(Θ) Y’C = V Cos(Θ) X’A = -VSin(Θ)- L1Cos(Θ)* Θ’ Y’A = VCos(Θ) – L1 Sin(Θ) *Θ’ X’B = XA – L2 Cos(Θ + Φ) (Θ’ + Φ’) Y’B = YA – L2Sin(Θ + Φ) + (Θ’ + Φ’) Φ’ = - µ* Θ’ (assumption) µ= Θ + Φ *2

  16. Algorithm Overview

  17. Parking Spot Detection

  18. APST: Image Processing • Obstacles Faced: • Line of LEDs is not efficient with light reflection • Used it only during night time and replaced daytime with a red line of tape • Bluetooth communication errors • Calculating the Look ahead area

  19. APST: Communication • Communication via Bluetooth: • Wireless • Secured • Reliable • Cost effective • Portable • Efficient

  20. PC Motors Bluetooth communication Command execution Power Supply Motor Controller PWM APST: Communication (Cont’d)

  21. APST: Overall Process

  22. Head (Main Control) Trailer APST: Hardware Design Joint Ball Casters Camera Wheels Foam Blocks

  23. APST: Implementation Parking System for Semi-Trailers Auto Mode Assistant Mode Night Mode Day Mode Night Mode Day Mode

  24. APST: Implementation (Cont’d) • Autonomous Mode: • Limited human control • Set Cam to see destination • Assistant Mode: • Voice assistance • No motion control • Full human control

  25. APST: Implementation • Night Mode • A line of Red LEDs (Red Light) • Day Mode • A line of Red Paint • Energy Saver Night Mode Day Mode

  26. APST: Testing Testing Phases Hardware Communication Software Circuit Debugging Fixing MATLAB & C Bluetooth Codes debugging Trailer adjustment errors Testing Overall Functionality

  27. APST: Limitations • Camera must see destination • Distance • Accuracy • Trailer is in free motion

  28. APST: Future Improvements • Design a mechanism to stabilize the movement of the trailer • Design a mechanism to rotate the camera as the trailer moves • Add more cameras to increase accuracy and avoid and collisions

  29. Lessons Learned • Expanded knowledge of team members in image processing, embedded control system, and serial communication • Learned circuit debugging, soldering • Introduced to Bluetooth communication • Enriched in problem-solving skills • Gained experience in MATLAB and C programming • Improved communication skills • Utilized teamwork

  30. Thank you for listening… • Questions? • Demo at 128 CIS

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