Real-time optimisation for parallel-parking control of four-wheeled vehicles
by Joe Imae, Koichiro Yoshimura, Guisheng Zhai, Tomoaki Kobayashi
International Journal of Modelling, Identification and Control (IJMIC), Vol. 6, No. 3, 2009

Abstract: 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.

Online publication date: Sun, 05-Apr-2009

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