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

Authors: Joe Imae, Koichiro Yoshimura, Guisheng Zhai, Tomoaki Kobayashi

Addresses: Department of Mechanical Engineering, Osaka Prefecture University, Japan. ' Department of Mechanical Engineering, Osaka Prefecture University, Japan. ' Department of Mechanical Engineering, Osaka Prefecture University, Japan. ' Department of Mechanical Engineering, Osaka Prefecture University, Japan

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.

Keywords: real time optimisation; four-wheeled vehicles; lateral dynamics; yaw dynamics; slip angle; descriptor system; parallel parking; parking control; numerical simulation.

DOI: 10.1504/IJMIC.2009.024465

International Journal of Modelling, Identification and Control, 2009 Vol.6 No.3, pp.255 - 262

Published online: 05 Apr 2009 *

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