TY - GEN
T1 - Real-time optimization for parallel-parking control of four-wheeled vehicles
AU - Imae, Joe
AU - Yoshimura, Koichiro
AU - Zhai, Guisheng
AU - Kobayashi, Tomoaki
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
KW - Descriptor system
KW - Four-wheeled vehicle
KW - Lateral and yaw dynamics
KW - Real time optimization
KW - Slip angle
UR - http://www.scopus.com/inward/record.url?scp=56749095754&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=56749095754&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4654761
DO - 10.1109/SICE.2008.4654761
M3 - Conference contribution
AN - SCOPUS:56749095754
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 777
EP - 781
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -