Study on an Automatic Parking Method Based on the Sliding Mode Variable Structure and Fuzzy Logical Control

Ying Xu,Xin Shan,Zefeng Lu,Yingqing Wang,Bo Wei,Wenhao Jia

doi:10.3390/sym10100523

Abstract

This paper discusses an automatic parking control method based on the combination of the sliding mode variable structure control (SMVSC) and fuzzy logical control. SMVSC is applied to drive the vehicle from a random initial position and pose, to the designated parking position and pose. Then, the vehicle is driven from the designated parking position to the target parking slot using the method of fuzzy logical control, whose rules are limited to the range of the effective initial position. To combine SMVSC with the fuzzy logical control, the experimental results demonstrate that effective parking can be guaranteed, even if the initial position is out of the effective parking area of the fuzzy logical control.

Highlights

As a key part of autonomous driving technologies, automatic parking technology can release the human driver from complicated parking procedures and can park more efficiently
The aim of this paper to solve this problem, of driving the vehicle from a random initial position to the effective parking position using the mothed of sliding mode variable structure control (SMVSC), and parking the vehicle from the effective parking position using the method of fuzzy logical control
SMVSC can control a vehicle from a random initial position to an effective parking position in limited amount of time; the curve of the control laws is smooth enough to implement in reality, and the chattering effect is decreased

Summary

Introduction

As a key part of autonomous driving technologies, automatic parking technology can release the human driver from complicated parking procedures and can park more efficiently. According to the procedures of parking, the research of automatic parking technology has been divided into two major aspects, which include parking slots detection, and parking path planning and tracking. In the aspect of parking slots detection, Huang, C.C. and Wang, S.J. proposed a three-layer. H.G. and Yun, H.L. proposed a method based on target position-designation to mark the parking slot [6]. In another aspect, research on parking path planning and tracking have been developed, for example, Vorobieva, H. proposed a path-planning method based on corresponding geometry and tracking the path with a controller, based on traveled distance [7]. J. proposed an automatic parking method based on computer vision [9]

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Conclusion