최적 제어 알고리즘을 이용한 자동 직각 주차 시스템

This paper describes an autonomous control algorithm for a perpendicular parking. The proposed control algorithm consists of a desired path generation algorithm and a path tracking controller. The desired path generation algorithm is developed using a model predictive control (MPC) method using 2DOF particle mass model in order to consider a nonholonomic constraint of vehicle model as well as inequality constraints of steering and velocity. The path tracking controller is designed based on linear quadratic optimal control method using 2 DOF bicycle model. The path tracking controller determines a front steering angle in order to track the desired path determined by the path generation algorithm. It is shown from the simulation results that the proposed control algorithm provides the satisfactory control performance for the perpendicular parking.