Intelligent parking method for trailers in presence of fixed and moving obstacles

A Fuzzy approach to backward movement control for trailers in a dynamic environment is presented in this paper. The approach is then extended and employed for conditions where obstacles are placed on the trailer pathway. In the first case, obstacles are assumed to be fixed, while the second condition includes moving obstacles through which the trailer should be directed toward the parking dock. The method is designed in a way to be used in conditions with infinite number of obstacles at arbitrary places. In any case, to find the parking dock, the trailer movement must be adapted to that of obstacles. In the present paper, two separate fuzzy controllers are used for directing the trailer: one for finding the target, and the other for avoiding the obstacles. While there is no obstacle around, the target finder controller is in use; and in the cases where the trailer gets close to obstacles the obstacle avoider controller is activated. The proposed method is employed for parking a trailer model through fixed and moving obstacles.