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

This paper proposes a real-time optimisation 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 unconstrained optimal control problem, to which the real-time optimisation method is applicable. Finally, a numerical simulation is demonstrated to illustrate the effectiveness of our proposed approach.