Model predictive parking control with on-line path generations and multiple switching motions

In this paper, we propose a parking control method with on-line path generations and multiple switching motions using path-following control for front steering vehicles. In the proposed method, the parking control is accomplished by following the reference path which is generated on-line adapting to the surrounding environment. Furthermore, we also realize the multiple switching motions to achieve the parking control in difficult situation. The performance of the proposed method is verified through experiments using a 1/10 scale vehicle. In addition, we show that the feasible area of the parking control is extended comparing with the conventional one.