Autonomous parking control system of four-wheeled vehicle

A four-wheeled vehicle autonomous parking control system has been designed. This paper presents mathematical formulation of the vehicle that provides planning the minimum length parking trajectory and minimum parking maneuver space. Parking maneuver was simulated in MATLAB Simulink using the computer model of the vehicle and identification of the parameters of the plant. Control system of the autonomous park assistant is based on the fuzzy logic. Experimental results were obtained with prototype of the four-wheeled vehicle.