Abstract
In this paper, we propose a parking control method with multiple switching motions using path-following control for front steering vehicles. The switching points are optimized using model predictive control. Moreover, the parking control is realized changing the vehicle moving direction to apposite one by multiple switching motions. We use time-state control form in order to achieve path-following control and linearize vehicle dynamics. The performance of the proposed method is verified through experiments and numerical simulations which show that the parking control is feasible in larger area than conventional method.
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