Parking control based on nonlinear trajectory control for low speed vehicles

A control law for guiding a car from any position to an appointed parking position (parking control) has been studied through trajectory simulations. The nonlinear control proposed by M. Sampei and K. Furuta (1986, 1991) has shown the best convergence of the car to a straight guideline compared with an LQ and a driver model control based on Kondo´s driver model. In order to apply the nonlinear control to all the posture angles, a method of changing guidelines according to the position and the posture angle has been devised. This corresponds to changing coordinates during control. With the parking control combining the changing coordinates with the nonlinear control, the car can be guided to an appointed parking position from any car position and posture angle. In order to compensate for uncertainty, model following control has been devised where a car follows the nominal model controlled by the nonlinear control without the integrator