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RESEARCH PAPERS

Perfect Parallel Parking Via Pontryagin’s Principle

[+] Author and Article Information
William Neff Patten, Hsien-Cheng Wu, Wei Cai

School of Aerospace and Mechanical Engineering, University of Oklahoma, Norman, OK 73019-0601

J. Dyn. Sys., Meas., Control 116(4), 723-728 (Dec 01, 1994) (6 pages) doi:10.1115/1.2899271 History: Received August 11, 1992; Revised July 08, 1993; Online March 17, 2008

Abstract

Parallel parking of an automobile can be a frustrating exercise for the driver. A simple, on vehicle control augmentation design for parallel parking is described in the paper. Using a steering control model, parking is cast as an optimal control problem. The minimization of a path length objective function, which was constrained by the bounds on the steering control angle, provided the setting for the problem definition. Pontryagin’s maximum principal was employed to discover a family of optimal trajectories that guaranteed perfect parallel parking. A bang-bang controller logic was shown to result. The design was experimentally tested using a light duty truck outfitted with a drive-by-wire capability.

Copyright © 1994 by The American Society of Mechanical Engineers
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