The tracking problem occurring in automatic parking systems is examined considering the terms required by the automotive industry. The most important condition is that the controller can only affect the steering-angle, whereas the velocity is solely determined by the driver. As a result the controller cannot influence the longitudinal motion of the car meaning that a time-invariant tracking error dynamics is not feasible. Instead, a flatness-based tracking controller in combination with clock control is presented, which allows the design of a time-invariant tracking error dynamics with respect to a physically meaningful arc-length-measure.
Orbital tracking control for car parking via control of the clock
Fahrgeschwindigkeitsunabhängige, orbitale Folgeregelung für die Einparkhilfe
2007
11 Seiten, 3 Bilder, 12 Quellen
Aufsatz (Konferenz)
Englisch
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