Cooperative lateral control for automatic valet parking

This paper presents the cooperative lateral control algorithm for automatic valet parking (AVP). While a position measurement system such as DGPS is in general used for autonomous driving on highway, the position information is provided for AVP via vehicle to infrastructure (V2I) communication. Both noise and time delay for position measurement via V2I is considered. Therefore, it is necessary for the lateral controller to be robust enough to compensate for the noise and time delay. With the assumptions of low speed and no sideslip angle, a nonlinear kinematic model is used for lateral control. Based on the nonlinear model, a nonlinear control technique called dynamic surface control (DSC) is applied to design the lateral controller. Furthermore, the preview and nonlinear damping ideas are incorporated with DSC to redesign the lateral controller. Finally the proposed lateral control algorithm is validated through simulations.