SITO Control Approach to Autonomous Parking

In the last several years, the intelligent driving environment have become an attractive area of research in all over the world. For this reason, large efforts and contributions have been directed to enhance the driving safety and to reduce the driver’s workload having autonomous vehicles with a great potential. There are different aspects in which the research is focused, but the main objective is to realize systems with human-acceptable driving performance taking to account reliability and risks. The focusing point of this thesis work is to create an autonomous park assist by means a multivariable feedback control system based on control of two reference variable: lateral position and yaw angle of the vehicle generated by an appropriate external control. To obtain the desired results, a linear bicycle model is considered starting from a nonlinear one to model the vehicle behavior. The bicycle model represents the plant of the system and in particular, it will be a SITO system with a single output (steering angle) and two input, those to be controlled. The final control is realized thanks to a combination of TISO Control and several feedforward filter. The overall work is made into the MATLAB and Simulink environment.