Automatic Parking Control for a 4-Wheeled Vehicle by Non-Linear Receding Horizon Control

In recent years, concern has been raised about automatic parking for a vehicle and several controllers have been reported. However, the control techniques are not yet matured for practical use. This paper proposes a real time optimization controller for automatic parking to aim at the practical use. First, the usefulness of the real time optimization algorithm is clarified. Second, simulation results show that the algorithm can produce a parking trajectory with switching operation, which is needed for a driver to park his/her vehicle in a narrow space. Third, output feedback controller for a vehicle is proposed. In this controller, the absolute coordinates of a vehicle are estimated by real time optimal state estimation algorithm; hence expensive devices such as a GPS or fixed camera system are not required to measure the coordinates. Last, simulation results demonstrats that the calculation time is short enough to realize the real time control.