Model predictive parking control on four wheel vehicle with optimum parking space

摘要

This paper aims to determine controlled parking angle with optimum parking space. There were two parts and methods to solve this problem. They were divided into optimum parking space with integer linear programming (ILP) and parking control with model predictive control (MPC). The simulation showed that ILP could determine optimum angles for parking space. The angles were considered to be final state and direction for MPC parking control. This controller directly instructed rotation radius into steering angle. Without using time based, this paper use xy coordinate based for controlling position and direction of vehicle. It could minimize the distance between target and prediction position when they had same direction.