Abstract
In this paper, the lateral control algorithm for semi-autonomous valet parking is presented and its feasibility is demonstrated via field driving tests. With the assumptions of low speed driving and small slip angle, a vehicle model with kinematic constraints of a steering actuator is proposed todesign the lateral controller. A model-based nonlinear control technique called dynamic surface control is applied to developa lateral control law for forward driving and backward parallel parking maneuvers. Furthermore, the previewcontrol and filteringtechniquesare incorporated in the lateral controller to improve the tracking performance. Since there is measurement noiseregarding position and yaw angle and model uncertainty, it is necessary for the proposed lateral controller to be robust enough to compensate for noise and disturbance. Finally the performance of the lateral controller is validated experimentally via field testsas well as simulations.
Highlights
The growing attention has been paid to a parking assistance system (PAS) to provide more safety and convenience to a driver
The advanced parking assistance system (APAS) (o r called self-parking), which makes a vehicle parked autonomously, has been developed[2, 3].For instance, autonomous driving including autonomous valet parking (A VP) was demonstrated in the Urban Challengein 2007, wh ich is an autonomous vehicle co mpetition[4, 5]. Whereas it succeeded in showing the feasibility of autonomous drivingwith many additional sensors such as radars, lidars, cameras, and u ltrasonic sensors to recognize lane, obstacles, and a parking lot, it is interesting to remark that the detection range to identify an availab le parking lot in a public parking structure is still limited
To conduct the given driving maneuvers for semi-autonomous valet parking (SA VP), a test vehicle shown in Fig. 2 has the follo wing capabilit ies:
Summary
The growing attention has been paid to a parking assistance system (PAS) to provide more safety and convenience to a driver. The advanced parking assistance system (APAS) (o r called self-parking), which makes a vehicle parked autonomously, has been developed[2, 3].For instance, autonomous driving including autonomous valet parking (A VP) was demonstrated in the Urban Challengein 2007, wh ich is an autonomous vehicle co mpetition[4, 5] Whereas it succeeded in showing the feasibility of autonomous drivingwith many additional sensors such as radars, lidars, cameras, and u ltrasonic sensors to recognize lane, obstacles, and a parking lot, it is interesting to remark that the detection range to identify an availab le parking lot in a public parking structure is still limited. The movement of steering is slow in-vehicle sensors and the information is sent to ECU v ia enough to satisfy kinematic constraints of a steering actuator. controller area network (CAN)
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