路面外乱に対するロバスト性を考慮した自動駐車システムの検討

抄録

Recently, automatic parking systems that operate under the assumption of a flat road surface have been studied. In real-life situations, issues such as road surface gradient, swollen road surfaces, and car stopper of the coin-operated parking lots are frequently encountered. In this paper, an automatic parking system that has robustness against these road disturbances is proposed. To verify the advantages of the proposed method, the proposed system is evaluated through simulations of a parallel parking scene with road surface gradient and a bump.