Prepared by: Abdullah F. F.

Shehadeh
Abd-Errazzaq Shehadeh
Hardware Graduation Project
2010 - 2011

Parallel parking is one of the most complex driving
scenarios. AP is system that enables cars to parallel
park autonomously.
The car starts by measuring the slots between parked
cars until it finds a slot that fits it. The minimum slot
required for the car to park in is twice the car length.
If the slot is insufficient, the car continue searching
for a suitable one.
Once the car finds a suitable slot it enters the parallel
parking mode. By the end of this mode, the car will
be parked.
AP

PIC 18F4550: USB Microcontroller.
SHARP IR sensors (GP2Y0A21YK): three sensors (10-
80cm).
H-Bridge (L298N).
5-V, 9-V voltage regulators (7805, 7809).
Car model.
Two 3.7 rechargeable batteries.
PC power supply.
PCB: Printed Circuit Board.
Devices Used:

Ultrasonic Sensors: we avoid their usage because of
the nature of ultrasonic waves (not directed) that
causes many reflections.
IR Sensors: we chose this type because of its
simplicity and it covers the ranges we need. We used
three (10 80 cm) sensors. A longer range exists (up
to 1.5 m) can be used when applying the system to
real cases.
Distance Sensors
Types:

Original Car

Car with our circuit

Our Circuit

H-bridge & Heat-Sink

Sensors Output

Sensors Noise
Elimination

Sensors Direction
It is preferred to position the sensor such that it is
orthogonal with respect to the motion direction.


PCB Schematic

PCB Board

We have derived an equation that describes the car
motion in auto-parking mode:







Mathematical Model
) 1 (
*
* *
*
=
=
=
r
t s
r t s
r ArcLength
|
|
|

According to sine rule:







Mathematical Model
) 2 ( * )
2
sin( * 2
*
)
2
cos(
)
2
cos( * )
2
sin( * 2
*
)
2
cos(
sin
*
)
2
90 sin(
sin
*
)
2
180
sin(
sin
)
2
180
sin(
sin
=
=
=

=

=

=
r h
r h
r h
r h
r h
r h
|
|
| |
|
|
|
|
|
|
|
|

By substituting (1) in (2):







The last equation describes the motion of the car.







Mathematical Model
* )
* 2
*
( sin * * 4
* )
* 2
*
sin( * 2
* )
* 2
*
sin( * 2
2 2 2
2
2
2
=

|
.
|

\
|
=
=
hd
r
t s
r vd
hd r
r
t s
vd
r
r
t s
h

By substituting the values of r and s:


Using MS Excel, we have solved this equation for many
values:

Mathematical Model
2 2 2
) * 48 . 0 ( sin * 81 . 0 hd t vd =

PCB: It is our first project using printed circuits. We
have learned how to work on Eagle program and we
have faced many problems making the appropriate
routing.
PIC 18F4550: It is a USB microcontroller that requires
the use of special bootloaders and programs like
MPLAB. We faced many problems in defining it on
Windows 7.
Problems we faced!

Mechanical problems: we changed the car model
twice, in order to use a small car that can be driven
using batteries, but finally we were obliged to use
power supply in order to supply the motors with the
required current. Another mechanical problem is the
rotation angle of the front motor which is much
smaller than the real case, what results in the need of
doing the parking on many stages.
Problems we faced!
Thanks a lot for your listening
Best Regards