Real-time optimization control for parking a vehicle automatically

The automatic operation technology of vehicles is of considerable practical concern. In this paper, we apply a real-time optimization technique to a control system for parking a vehicle automatically. In the technique the efficiency of the control system depends on weight matrices of a cost function; we propose a method for changing the weight matrices in order to realize a switching operation. This switching operation is a kind of parking motion in which a vehicle goes forward to a target at first, and then turns to the right or the left; it then approaches the target again with backward motion. This operation is often necessary in a narrow space. Simulation results show that suitable selections of a cost function and its weight matrices accomplish the switching operation without determining the switching point beforehand.