Steering and Velocity Commands for Parking Assistance

I.E. Paromtchik (Japan)


Mobile robot, driver assistance, parking maneuver


Planning control commands of the steering angle and ve locity for autonomous parking maneuvers is addressed. Our approach makes use of conformity between the control commands and resulting shape of the path. The path shape required for a parking maneuver is evaluated from the en vironmental model. The corresponding control commands are selected and parameterized to provide motion within the available space. They are executed by the car servo systems which drive the vehicle into the parking place. The approach is tested on a CyCab automated vehicle. The ex perimental results on a perpendicular parking maneuver are described, and the experiments illustrated by video.

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