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김기태(Kitae Kim),안주현(Juhyun An),김기호(Kiho Kim),이인남(Innam Lee),유관호(Kwanho You) 한국자동차공학회 2013 한국자동차공학회 지부 학술대회 논문집 Vol.2013 No.5-2
As an advanced safety system is a key point of smart car in automotive field, autonomous parallel parking system is widely studied to improve the convenience of inexperienced drivers who have a difficulty in parking properly. In this paper, we present an incremental sliding-mode fuzzy logic controller(ISMFLC), which is a sliding-mode controller using different fuzzy rules subject to each different situation. We also adapt unscented Kalman filter(UKF) to compensate for a sensor noise by unscented transformation. In order to compare an performance of ISMFLC and UKF, simulations have been provided. The simulation results confirm the advanced parallel parking accuracy and the safety obtained by using the proposed algorithms.