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Perpendicular Parking Path Generation and Optimal Path Tracking Algorithm for Auto-parking of Trailers

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  • Robot and Applications
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Abstract

Driving a trailer is not difficult when driving forward; however, it is challenging when driving in reverse because the trailer turns opposite to the steering direction of the vehicle and the parking characteristics vary depending on the trailer length. The shorter the trailer is, the higher is the steering response sensitivity; this results in reverse parking complexities. Therefore, this paper proposes an improved method to reverse-drive a trailer into a parking space autonomously. Specifically, an optimal steering angle is obtained for auto-parking trailers of all sizes. The trailer is autonomously parked using a simple pure pursuit tracking algorithm without establishing an infrastructure. Therefore, the proposed method enables the trailer to detect the parking location and auto-park without any input from the driver.

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Authors and Affiliations

  1. Graduate School of Automotive Engineering, Kookmin University, 77, Jeongneung-ro, Seongbuk-gu, Seoul, 02707, Korea

    Heeseok Shin, Myeong-Jun Kim, Sunwoo Baek & Jungha Kim

  2. University of Florida, Gainesville, FL, 32601, USA

    Carl D. Crane

Authors
  1. Heeseok Shin
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  2. Myeong-Jun Kim
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  3. Sunwoo Baek
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  4. Carl D. Crane
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  5. Jungha Kim
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Corresponding author

Correspondence to Jungha Kim.

Additional information

This work was supported by BK21 Program (5199990814084) through the National Research Foundation of Korea (NRF) funded by the Ministry Education.

Heeseok Shin received his B.S. degree in physics from Suwon University in 2016. He is currently pursuing a Ph.D. degree in Kookmin University. His research interests are autonomous vehicles, vehicle control, path generation, auto-parking system, and trailer auto valet parking system.

Myeong-Jun Kim received his B.S. degree in information and telecom. engineering from Incheon National University in 2017, an M.S. degree in Automotive Engineering from Kookmin University in 2019, and is currently a Ph.D. student in the same graduate school. His research interests include autonomous vehicles, perception system, object detection, and sensor fusion.

Sunwoo Baek received his B.S. degree in control and instrumentation engineering from Korea University in 2017. He is currently a Ph.D. student in Kookmin University. His research interests are vehicle control, deep learning, vision systems, motion planning, and unmanned vehicles.

Carl D. Crane received his B.S. and M.S. degrees from the Department of Mechanical Engineering, the Rensselaer Polytechnic Institute in 1978, and a Ph.D. degree from the University of Florida in 1987. He is currently a professor in the Department of Mechanical and Aerospace Engineering, University of Florida.

Jungha Kim received his B.S. degree from the Department of Mechanical Engineering, Sungkunkwan University, in 1981, an M.S. degree from the Department of Mechanical and Aerospace Engineering, University of Cincinnati, in 1985, and a Ph.D. degree from the Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, in 1990. He is currently a professor in the Department of Automotive Engineering, Kookmin University.

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Shin, H., Kim, MJ., Baek, S. et al. Perpendicular Parking Path Generation and Optimal Path Tracking Algorithm for Auto-parking of Trailers. Int. J. Control Autom. Syst. 20, 3006–3018 (2022). https://doi.org/10.1007/s12555-021-0268-9

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  • DOI: https://doi.org/10.1007/s12555-021-0268-9

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