PARKING TRACK OBEYING METHOD FOR MINIMIZING OF OBEYING ERROR

摘要

A parking tracking method for minimizing a tracking error is provided to search the optimal tracking method suitable for the type of a track and to minimize a tracking error at the final finish point by selecting different tracking methods according to each section. In parallel parking of a parking tracking method for minimizing a tracking error, a parking track of a vehicle from the parking start point to the finish point is divided into a circular arc section from the start point to a point of inflection(A) and a straight section from a point of inflection to the finish point, and controlled separately. The circular arc section is controlled by an open loop and the straight section is controlled by fuzzy controls.