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

Joe Imae, Koichiro Yoshimura, Guisheng Zhai, Tomoaki Kobayashi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
ページ777-781
ページ数5
DOI
出版ステータスPublished - 2008
外部発表はい
イベントSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
継続期間: 2008 8月 202008 8月 22

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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