Vehicle pose estimation is one of the most essential functions for the clamping parking robot. In order to detect the parameter information of a car accurately, laser scanners are used widely for their highly precise distance measurements. However, the price of laser scanners, especially 3D laser scanners, is usually very expensive, and the pose estimating algorithm is complex. In this paper, an innovative vehicle pose estimation system based on pressure sensor array is proposed. In order to improve the estimation accuracy, a rectangle fitting based on the least square method are applied. The suggested algorithm is simple and effective, it can not only estimate the pose of a car, but also achieve the parameters of wheel width, wheel tread, wheel base, weight and gravity center position. In addition, whether the steering wheel is back can also be detected. All the information above is important for clamping parking robot. What is more, it's much cheaper than laser scanners. In order to verify the algorithm, two experiment prototypes were built. The results proved that the proposed system provides an effective method of vehicle pose estimation for clamping parking robot.

Vehicle Pose Estimation System Base on Pressure Sensor Array for Clamping Parking Robot

Most tire models need experimentally obtained data as input for simulation purposes. The study of tire mechanics requires the accuracy and repeatability of a controlled environment. However, the accessibility and cost of tire testing machines make it prohibitive for exploring tire mechanical properties for academic studies. Moreover, most industrial tire testing machines are designed for general tire testing, and would require an extensive amount of time and resources to adapt for academic research. To study tire mechanical behavior for modeling purposes, a tire mechanics test apparatus has been developed at the Center for Vehicle Systems and Safety (CVeSS), Virginia Tech. The tire mechanics test apparatus has been designed as an interchangeable attachment to an existing modular quarter car test rig developed at the Institute for Advanced Learning and Research (IALR) in Danville, Virginia, to save on cost, as well as to maintain repeatability of testing. The physical limitations of maximum tire vertical load for various tire testing machines are also among the main motivations for developing the tire mechanics test apparatus. The current configuration of the tire mechanics test apparatus provides the capability to study the vertical load - deflection characteristics of the tire, as well as the static footprint of the tire under various vertical loads. Future planned enhancements to the setup include the addition of a soil bin and an instrumented rolling drum for tire shear force studies.© 2008 ASME

Development and Design of a Cost-Efficient Tire Mechanics Testing Apparatus

Validation, Testing, and Refinement of the Equinox REVLSE E85 Hybrid Electric Vehicle

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Development and Design of a Cost-Efficient Tire Mechanics Testing Apparatus

Validation, Testing, and Refinement of the Equinox REVLSE E85 Hybrid Electric Vehicle