Real-time optimization for parallel-parking control of four-wheeled vehicles

Joe Imae, Koichiro Yoshimura, Guisheng Zhai, Tomoaki Kobayashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In recent years, much concern has been raised about automatic parking systems for passenger vehicles. However, most of the researches are based on kinematic model, where the lateral and yaw dynamics is not taken into account. This paper proposes a real-time optimization approach to the parallel-parking control problem, focusing on the lateral and yaw dynamics. It should be noted that the parallel parking problem incorporating such dynamics is difficult to solve numerically/analytically. First, we formulate the parallel parking problem as a control problem in a descriptor form. Then, by introducing a new idea, we transform the control problem into a kind of constrained optimal control problem, to which the real-time optimization method is applicable. Finally, a numerical simulation is demonstrated to illustrate the effectiveness of our proposed approach.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages777-781
Number of pages5
DOIs
Publication statusPublished - 2008 Dec 1
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: 2008 Aug 202008 Aug 22

Publication series

NameProceedings of the SICE Annual Conference

Conference

ConferenceSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period08/8/2008/8/22

Keywords

  • Descriptor system
  • Four-wheeled vehicle
  • Lateral and yaw dynamics
  • Real time optimization
  • Slip angle

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Imae, J., Yoshimura, K., Zhai, G., & Kobayashi, T. (2008). Real-time optimization for parallel-parking control of four-wheeled vehicles. In Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology (pp. 777-781). [4654761] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2008.4654761