Orbital tracking control for car parking via control of the clock using a nonlinear reduced order steering-angle observer

In this contribution, the tracking problem occurring in automatic parking systems is examined considering the terms required by the automotive industry. The most important of these conditions are that the controller can only affect the steering-angle, whereas the velocity is solely determined by the driver, and that no additional expensive sensors have to be installed in series-production vehicles. A solution proposing a flatness-based tracking controller in combination with clock control and a suitable observer requiring only the arc-lengths covered at the rear wheels as measurement values is presented.