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Design of Lateral Controller for Automatic Valet Parking and Its Performance Analysis with Respect to Vehicle Types

자동 발렛 파킹을 위한 횡방향 제어기 설계 및 차종변화에 대한 제어 성능 분석

  • Received : 2012.08.27
  • Accepted : 2012.09.25
  • Published : 2012.11.01

Abstract

The unified lateral control algorithm for automatic valet parking for various types of vehicles is presented and its feasibility is shown experimentally via field tests for the given parking scenario. First, a trajectory generation algorithm for forward driving and backward multi-step parking maneuvers is developed. Then, with consideration of different types of vehicles and operating conditions, a kinematic vehicle model is used and validated using field test data. Using the nonlinear vehicle model, the lateral controller is designed based on dynamic surface control. Finally the proposed lateral control law is validated via hardware-in-the-loop simulations for different types of vehicles and experimentally using a test vehicle through field tests.

Acknowledgement

Grant : 자동발렛파킹을 위한 센서기반 공간인지 및 자동주행 기술개발

Supported by : 지식경제부

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