| Home | KSAE | E-Submission | Sitemap | Contact Us |  
International Journal of Automotive Technology > Volume 14(4); 2013 > Article
International Journal of Automotive Technology 2013;14(4): 633-640.
doi: https://doi.org/10.1007/s12239-013-0068-1
Ajou University
This paper presents a lateral vehicle control algorithm for autonomous valet parking (AVP). Under the assumption that the position and heading angle are provided via vehicle-to-infrastructure (V2I) communication, the lateral controller aims to conduct two different driving maneuvers, i.e., forward driving and backward parking, and to control various types of vehicles in a unified approach. Therefore, it is necessary for the lateral controller to be robust enough to track the desired trajectories for different driving maneuvers, as well as to compensate for the uncertainty caused by the need to consider various vehicle types. With the assumption of operating conditions such as a low speed and small slip angle, a nonlinear kinematic model with kinematic constraints is used for the design of the lateral control. Based on this nonlinear model, a nonlinear control technique called dynamic surface control (DSC) is applied to design the lateral controller, and its stability is analyzed in the framework of linear differential inclusion. Finally, the proposed lateral control algorithm is validated through vehicle simulations and field tests.
Key Words: Lateral vehicle control, Dynamic surface control, Autonomous valet parking
Editorial Office
21 Teheran-ro 52-gil, Gangnam-gu, Seoul 06212, Korea
TEL: +82-2-564-3971   FAX: +82-2-564-3973   E-mail: manage@ksae.org
About |  Browse Articles |  Current Issue |  For Authors and Reviewers
Copyright © The Korean Society of Automotive Engineers.                 Developed in M2PI
Close layer
prev next