Automated Perpendicular Parking System With Approximated Clothoid-Based Local Path Planning
- Authors
- Kim, Dae Jung; Chung, Chung Choo
- Issue Date
- Dec-2021
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- Closed loop systems; clothoid path; Kinematics; Path planning; Path planning; Roads; Robots; Time-varying systems; valet parking.; vehicle control; Vehicle dynamics; virtual towing
- Citation
- IEEE Control Systems Letters, v.5, no.6, pp.1940 - 1945
- Indexed
- SCOPUS
- Journal Title
- IEEE Control Systems Letters
- Volume
- 5
- Number
- 6
- Start Page
- 1940
- End Page
- 1945
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/140291
- DOI
- 10.1109/LCSYS.2020.3044254
- ISSN
- 2475-1456
- Abstract
- This paper proposes an automated perpendicular parking system using approximated clothoid-based local path planning and a virtual towing method. Clothoid path planning provides smooth maneuvering, but we cannot obtain a closed-form solution. Further, it costs computational overhead. To cope with these problems, we present a novel vehicle control algorithm with approximated clothoid-based local path planning. We show that a parking control system could be presented as a closed-loop system by integrating path planning and control. The closed-loop system is represented as a discrete linear time-varying system and its stability is proved using the Lyapunov stability theorem. In the proposed system, we also see that a numerical singularity problem may incur, which could bring undesirable steering. To avoid numerical singularity, we also propose a virtual towing method. From numerical simulations, we show that the vehicle converges smoothly to the parking spot.
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