Real-time optimisation for parallel-parking control of four-wheeled vehicles

Joe Imae, Koichiro Yoshimura, Guisheng Zhai, Tomoaki Kobayashi

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper proposes a real-time optimisation approach to the parallel-parking control problem, focusing on the lateral and yaw dynamics. It should be noted that the parallel parking problem incorporating such dynamics is difficult to solve numerically/ analytically. First, we formulate the parallel parking problem as a control problem in a descriptor form. Then, by introducing a new idea, we transform the control problem into a kind of unconstrained optimal control problem, to which the real-time optimisation method is applicable. Finally, a numerical simulation is demonstrated to illustrate the effectiveness of our proposed approach.

Original languageEnglish
Pages (from-to)255-262
Number of pages8
JournalInternational Journal of Modelling, Identification and Control
Issue number3
Publication statusPublished - 2009
Externally publishedYes


  • Descriptor system
  • Four-wheeled vehicle
  • Lateral and yaw dynamics
  • Real time optimisation
  • Slip angle

ASJC Scopus subject areas

  • Modelling and Simulation
  • Computer Science Applications
  • Applied Mathematics


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