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Path Tracking Motion Control using Fuzzy Inference for a Parking-Assist System  

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)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.17, no.2, 2009 , pp. 1-9 More about this Journal
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
Maneuvering clothoid parallel path; Path tracking; Parking-assist system; Fuzzy control;
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