Abstract
This paper aims at developing a practical automatic parking technology for 4-wheeled cars, which is able to park cars subject to parking space constraint and steering angle saturation. The feedback law is designed based on the switching control method proposed by the authors for chained systems. The focus of this paper is to prove a condition on the initial state under which the stability is guaranteed even when the steering angle is saturated. After that, parking algorithms are proposed based on this condition. The proposed method is validated by numerous parking experiments.
