On lateral fractional order controller in auto-parking system

Lateral control in autonomous parking system, which is always at low speed, simultaneously requiring very small following error, is a difficult problem to resolve. To address this problem, fractional order controller is introduced to the lateral control for auto-parking system in this paper. What´s more, in order to address the parameters tuning problem in design of the lateral controller, an improved genetic algorithm is adopted. With the proposed method, simulation and real vehicle experiments are carried out. Results show that the fractional order PI^λ D^μ controller is very reliable and stable and it can solve the high-precision lateral control problem when the autonomous vehicle is at low speed in auto-parking process.