Lateral Vehicle Control for Semi-Autonomous Valet Parking with Consideration of Actuator Dynamics

In this paper, the lateral control algorithm for semi-autonomous valet parking is presented and its feasibility is demonstrated via field driving tests. With the assumptions of low speed driving and small slip angle, a vehicle model with kinematic constraints of a steering actuator is proposed todesign the lateral controller. A model-based nonlinear control technique called dynamic surface control is applied to developa lateral control law for forward driving and backward parallel parking maneuvers. Furthermore, the previewcontrol and filteringtechniquesare incorporated in the lateral controller to improve the tracking performance. Since there is measurement noiseregarding position and yaw angle and model uncertainty, it is necessary for the proposed lateral controller to be robust enough to compensate for noise and disturbance. Finally the performance of the lateral controller is validated experimentally via field testsas well as simulations.