Design and Simulation of Small Space Parallel Parking Fuzzy Controller

Qiulin Sheng, Jie Min, Xing Zhang, Zhengwen Zhang, Yi Li, Guangya Liu


Based on the nonlinearity and time-variation of automatic parking path tracking control system, we use fuzzy control theories and methods to explore the control rules to improve fuzzy controllers and design an automobile steering controller. Then we build the simulation experiment platform of an automobile in Simulink to simulate the reversing settings of parallel parking. This paper adopts the Mamdani control rules; the membership function is the Gauss function. This paper verifies the fuzzy controller's kinematic model and the advantages of fuzzy control rules. Simulation results show that the design of the controller allows the automobile to stop into the parking space smaller than the space obtained by planning path, and automatic parking becomes possible in the parking plot. The control system is characterized by small tracking error, fast response and high reliability.

Full Text:



. Yanan Zhao, Emmanuel G. Collins Jr.Robust automatic parallel parking in tight spaces via fuzzy logic[J], Robotics and Autonomous Systems, 51 (2005) pp. 111-127.

. Jiang Hui, Guo KongHui, Zhang JianWei. Design of automatic parallel parking steering controller based on path planing[J]. Journal of Jilin University (Engineering and Technology Edition), Vol. 41 No. 2, Mar. 2011, pp. 293-297. (in Chinese)

. Gillespic T D, Fundatncntals of Vchicle Dynatnics [M], SAE International,1992.

. Wu Rui-hong, Zhang Guang-ren, Derivation and ex-perimental verication of the vehicle trajectory for backward motion[J]. Mechanical and Industrial management, 2006(274): pp. 94-102. (in Chinese)

. Liu JinKun. Intelligent Control [M]. Publishing house of electronics industry. 2005.05.

. Shi XinMin, Hao ZhengQing. Fuzzy control and MATLAB simulation. Tsinghua University Press. 2008.03.

. WangPing. Study on Parallel Parking System Based on Fuzzy Logic Control[J]. Journal of Jiamusi University ( Natural Science Edition). Vol.30 No.1. Jan. 2012.pp28-37. (in Chinese)

. Zhang JianRen, Wang Li. Fuzzy control simulation system based on MATLAB [J]. ZIDONGHUA YU YIQI YIBIAO.Vol.150. No.1. 2003. (in Chinese)

. WuBing. Research on path simulation and motion control for automatic parking[D]. HeFei University of Technology. 2012.04.26. (in Chinese)

. Verónica Sáiz-Rubio, Francisco Rovira- Más, Ishani Chatterjee, José María Molina HidalgoRobust. estimation of Ackerman angles for front-axle steered vehicles[J]. Artificial Intelligence Research, 2013, Vol. 2, No. 2.pp 18-27.


Article Metrics

Abstract view : 175 times
PDF - 250 times


  • There are currently no refbacks.

Copyright (c) 2015 Universitas Ahmad Dahlan

TELKOMNIKA Telecommunication, Computing, Electronics and Control
ISSN: 1693-6930, e-ISSN: 2302-9293
Universitas Ahmad Dahlan, 4th Campus, 9th Floor, LPPI Room
Jl. Ringroad Selatan, Kragilan, Tamanan, Banguntapan, Bantul, Yogyakarta, Indonesia 55191
Phone: +62 (274) 563515, 511830, 379418, 371120 ext. 4902, Fax: +62 274 564604

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.