High-performance collision avoidance parallel parking strategy of the autonomous vehicle

A parallel parking strategy of the uncertain autonomous vehicle is presented. In the actual driving environment, due to the influence of unpredictable factors such as uneven road surface and climate change, there is uncertainty in the process of parallel parking of the autonomous vehicle. The uncertainty which may change with time is bounded, yet the bound is unknown. In order to achieve accurate parallel parking and collision avoidance of the autonomous vehicle, the uncertainty analysis is added into the autonomous vehicle system. Firstly, the dynamic model of the uncertain autonomous vehicle is determined based on the hierarchical constraint approach, and the analytical form of the dynamic model is obtained. Then, a self-regulating leakage type adaptive robust control based on the Udwadia-Kalaba method is proposed. Finally, the applicability and superiority of the parking strategy are demonstrated by comparing with other control methods.