Intelligent parking support system for four-wheeled vehicles in consideration of human's operation error

It is difficult for unskilled person to park four-wheeled vehicles, particularly when the movable area is restricted. Offering the information about the operation procedure can support their operation. Since human has large operation delay and an operation mistake, it was a problem that the indicated operation and his actual operation are in disagreement. In this paper, even if an operation error exists, the system that can support operator safely and efficiently is developed. This system consists of three parts, 1) detection, 2) motion planning and 3) offer information. The support knowledge and heuristics of the high-level expert human are built in using the fuzzy theory. Effectiveness of this system is shown by the results of support experiment for human and simulation experiment using human's operational model. It is shown that this system can support human who has operation error (time constant 0.2 seconds, operation delay 0.7 seconds).