Section: New Results

Saturated Feedback Control for an Automated Parallel Parking Assist System

Participants : Mohamed Marouf, Fawzi Nashashibi, Plamen Petrov.

In 2014, RITS extended its activities in the design and development of specific automated maneuvres. One particular interesting topic is the parallel parking problem of automatic front-wheel steering vehicles. The problem of stabilizing the vehicle at desired position and orientation is seen as an extension of the tracking problem. A saturated control has been proposed which achieves quick steering of the system near the desired position of the parking spot with desired orientation and can be successfully used in solving parking problems. In addition, in order to obtain larger area of the starting positions of the vehicle with respect to the parking spot for the first reverse maneuver of the parallel parking, an approach using saturated control with two different levels of saturation is proposed. The vehicle can be automatically parked by using one or multiple maneuvers, depending on the size of the parking spot. Simulation results were presented first in [44] to confirm the effectiveness of the proposed control schemes. New results extended to all types of parking lots shapes were recently obtained using this approach. The validation has been performed with real vehicles in the Inria test site.