Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Path Tracking Motion Control using Fuzzy Inference for a Parking-Assist System

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  • Kim, Seung-Ki (Department of Mechanical Engineering, Korea University) ;
  • Chang, Hyo-Whan (Department of Mechanical Engineering, Korea University) ;
  • Kim, Chang-Hwan (Department of Mechanical Engineering, Korea University)
  • Published : 2009.03.01
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Abstract

A parking-assist system is defined that a driver adjusts vehicle velocity through brake pedal operation and parking-assist system controls the motion of the vehicle to follow a collision-free path. In this study, a motion control algorithm using Fuzzy inference is proposed to track a maneuvering clothoid parallel path. Simulations are performed under SIMULINK environments using MATLAB and CarSim for a vehicle model. As the vehicle model in MATLAB a bicycle model is used including lateral dynamics. The simulation results show that the path tracking performance is satisfactory under various driving and initial conditions.

Keywords

References

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