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 12 1
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 202008 8 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
CountryJapan
CityTokyo
Period08/8/2008/8/22

ASJC Scopus subject areas

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

フィンガープリント 「Real-time optimization for parallel-parking control of four-wheeled vehicles」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル