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Autonomous Self-Parking Robot

Conference Paper · April 2018
DOI: 10.1109/ICDI3C.2018.00034

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Amrita Vishwa Vidyapeetham
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2018 International Conference on Design Innovations for 3Cs Compute Communicate Control

Autonomous Self-Parking Robot

Ms.Pavithra
Dept. of Electronics and Communication
Engineering MVJCE, Bangalore, India.
E-mail: [email protected]
Fedricky Banskhembor Ropmay
Dept. of Electronics and Communication Engineering MVJCE, Bangalore, India.
E-mail: [email protected]

Avinash killikyatar
Dept. of Electronics and Communication Engineering MVJCE, Bangalore, India.
E-mail: [email protected]

Abstract

Parking of a 4-wheeler is one of a troublesome and boisterous occupation particularly in a

zone where an empty space is obliged as it includes a progression of forward and invert
movements and turns which end up being a complicated task for most auto drivers to deal
with. Individuals who have quite recently got the hang of driving may likewise observe
parking to be an exceptionally troublesome activity. In this paper we proposes an
autonomous self-parking system in a particular parking space. In this system, the vehicle
can drive itself and discover the parking spots to automatically park the vehicle utilizing
ultrasonic sensors. The system comprises of parking space seeking, vacant space detection
and steering control. As indicated by the kind of the parking space (parallel or
perpendicular) which has been perceived by the sensors, the system will record the
appropriate parking spot and carry out the required parking operation. Our proposed

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framework is completed with hypothetical calculation, and equipment reconciliation, and
besides the outcome demonstrates the capacity of vehicle stopping.

Keywords— perpendicular parking, parallel parking, PAS, Atmega16, L298 driver,

Proximity sensor.

I.INTRODUCTION

Automatic parking is an autonomous car-maneuvering system that moves a vehicle from a

traffic lane into a parking spot to perform parallel or perpendicular parking. Numerous
dynamic safety systems have been developed in recent advances of intelligent driver help
systems. So as to decrease the crash mischances, numerous auto manufacturers go for
advancing the safety and comfort by utilizing different sensors or actuators installed in
vehicles, as known as lane keeping system (LKS), blind detection system (BDS) and so on.
It is dependably an issue to park a vehicle for beginners, in light of the fact that the turning
point of parking is difficult to know. The automatic parking system's goal is to improve the
safety and comfort of driving in obliged situations where much consideration and
experience is required to control the vehicle. The parking maneuver is accomplished by
methods of facilitated control of the guiding edge and speed which considers the genuine
circumstance in the environment to guarantee impact free movement inside the accessible
space. With the number of vehicles expanding quickly, accessible parking spots have turned
out to be increasingly rare. Because of the decrease of the parking spot, potential mishaps
are expanded in the span of parking. To lessen the mishaps, a parking assistant system
(PAS) is exhibited. The PAS utilizes proximity sensors to identify obstacles for assistance
in parking. To enhance PAS, the advanced parking guidance system (APGS) has been
introduced. In APGS, the surrounding environment can be detected through sensors to
discover the appropriate parking spot. At the point when the parking spot is discovered, the
system will begin to perform the required parking operation. Parallel parking is a strategy
for parking a vehicle parallel to the street (henceforth the term 'Parallel Parking'), in
accordance with other stopped vehicles. Parallel parking for the most part requires at first
driving marginally past the parking space, parallel to the stopped vehicle before that space,
keeping a protected separation, and then followed by reversing into that space Parallel
parking empowers the driver to stop a vehicle in a littler space than would be valid for
forward parking. Driving forward into a parking space on the side of a street is normally
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 impractical unless two progressive parking spaces are unfilled. Switching into the spot by
means of the parallel parking procedure enables one to exploit a solitary purge space very
little longer than the auto (keeping in mind the end goal to finish the parking inside three
wheel-turns the parking space would for the most part should be around one and a half auto
length long).With perpendicular parking, otherwise called bay parking, vehicles are parked
side to side, perpendicular to a passageway, curb, or divider. This kind of auto parking fits
more autos per length of street (or check) than parallel parking, and hence this manner is
usually utilized as a part of car parking lots and car parking structures. Frequently, in auto
parking lots utilizing perpendicular parking, two lines of parking spaces might be lined up
front to front, with walkways in the middle. In the event that no different cars are hindering,
a driver may carry out a "pull through" by driving through one parking space into the
attaching space to prevent from reversing out of a parking space upon their arrival.

II. PROPOSED SYSTEM

In the proposed system, parking assistance is employed by using ATmega 16

microcontroller. Both parallel and perpendicular parking can be achieved in this system.

A. ATmega 16:
The ATmega 16 is an 8-bit microcontroller that belongs to Atmel’s Mega AVR family. It
has an added advantage of low power consumption. ATmega 16 is based on RISC
architecture along with 131 instruction sets. Most of the instruction are executed in a single
machine cycle. The maximum frequency in which ATmega 16 can work is 16MHz.
It has a programmable flash memory of 16KB, static RAM of 1KB and EEPROM of 512
Bytes.

ATmega16 is 40 pin microcontroller. There are 32 I/O (input/output) lines, which are
divided into four 8-bit ports named as PORTA, PORTB, PORTC and PORTD.

ATmega16 has various in-built peripherals like USART, analog to digital converter, Analog
Comparator, SPI, JTAG etc. Each I/O pin has an alternative task related to in-built
peripherals.

B. Proximity Sensors:

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 The optical proximity sensors are costlier than the inductive proximity sensors. They cost
the same as capacity sensor. They are widely used in automated systems because they have
a longer range and occupies less space.

The optical proximity sensor consist of semiconductor device such as photodiode. It

generates a small amount of current when light falls on it.
3 proximity sensors are used in this system. One is placed at the center and the other two are
placed at the sides. These sensors are used for obstacle detection.
The sensor gives digital output which serves as an input to the microcontroller. Depending
on the values appropriate parking mechanism takes place.

C. Motor Driver:
L298 motor drivers are used in this model. This dual bi directional motor driver is based on
L298 Dual H-Bridge Motor Driver IC. This module will allow us to easily and
independently control two motors which takes up to 2A each in both directions.

It is ideal for robotic applications and well suited for connection to a microcontroller as it
requires few lines to control.

D. DC Motor:

In our proposed system we are using DC motor of 100rpm. Dc motor converts electrical
energy to mechanical energy. Speed direction is the idea of speed control variety. The
administrator physically control the speed or it is done by methods for some programmed
control gadget. One of the major features of DC motor is simple to control the speed.

E. Battery :

We are using lithium polymer (Li-Po) battery. It can deliver very high current. It can
indefinite shelf life if stored without electrolyte. The world’s most recycled product. In our
proposed system it will mention the power supply.

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 III. METHODOLOGY

The parking can be classified in to 2 major types x Parallel parking x Perpendicular

parking

Parallel parking
Parallel parking is a method of parking a vehicle parallel to the road, with respect to other
parked vehicles .Fig 3 shows parallel parking.

Perpendicular parking
Perpendicular parking is a method of parking a vehicle side by side, e.g. perpendicular to a
wall, curb or something else. Fig 4 shows perpendicular parking.

● Figure 1 demonstrates the general piece outline of proposed framework. It contains the
Atmega-16 which is the core of the framework and controls all exercises of the framework.
● Atmega-16 is interfaced with motor driver through L298 motor driver and Proximity
sensor through sensor interface.
● The three optical sensors (are given) serve as an input to the microcontroller.
Whenever an obstacle is detected, logic 0 is given to microcontroller.
● The range of the sensor is about 80cm. When no obstacle is detected in this range,
logic1 is given for the controller.
● The 3 sensors are connected to 3 pins of controller and programmed accordingly they
are first connected to sensor interface they are connected to controller.
● 2 motor drivers (L298) are used to control 4 dc motor each used to control 4 dc motors
each of 100rpm. ● Motors with less rpm is selected as it is more suitable for parking
mechanism.

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● Motor drivers supply the required power to the
motors. Each motor requires 6v supply. The motors and the
left are shorted and given to motor driver 1 and right side
Motors are shorted and given to motor driver 2.
● The motor drivers are active low enabled.
● A 12v lipo battery is given used for the power supply
Atmega16 and it requires 5v ,it has an inbuilt voltage
regulators 7805 to provide a constant supply of 5v.

Figure2. Flowchart of proposed system

Fig1. Block diagram of proposed system

x Flowchart shown in figure2.The vehicle moves ahead until the sensor detects any obstacle
passed on the readings obtained by the sensor it will check if there is a parking space
detected. If there is no space detected the vehicle continues to move forward until the
space is detected.
X Once the space is detected the controller then checks for the switch condition, if the switch
is high then it follows the perpendicular parking else it will follow parallel parking.

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Figure 3 Parallel Parking

Figure 4 Perpendicular
V. REFERENCES
1.

2.

3.

IV. RESULTS

● In this work an intelligent automatic parking vehicle is

Implemented using Atmega-16 optical sensor. 4.

● The proposed system has the ability of identifying parking space and high active-safety
parking without a person onboard.

● We developed an algorithm using proximity sensors with possible combinations of sensors

5.
output values to solve the parking complexity.
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Means algorithm for image segmentation’. IEEE International conference 2011.
Dr. Bernhard Stojetz, Osram, "Ambient Light Sensor and Proximity Sensor SFH7770
Application Note" . IEEE, 2009
Yang Jihoon, Jorge Portilla, Teresa Riesgo, "Smart parking service based on wireless sensor
networks", IECON 2012–38th Annual Conference on IEEE Industrial Electronics Society.
IEEE, 2012.
Jung-Ho Moon, Tae Kwon Ha, "A Car Parking Monitoring System Using Wireless Sensor
Networks", International Journal of Electrical Robotics Electronics and Communications
Engineering, vol. 7, no. 10, 2013.

Omkar Dokur, Srinivas Katkoori, Nouredddine Elmehraz, "Embedded system design of a

realtime parking guidance system", Systems Conference (SysCon) 2016 Annual IEEE, pp. 1-
8,

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 2016.

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