Automatic Parking Controller with a Twin Artificial Neural Network Architecture

Figure 10

Simulated results of proposed simple ANN agent when SL = 4.8 m and RRP at position (, ) = (6.0, 1.2). BC side front end of the vehicle collides with the vertex of the parking slot while the vehicle is moving backward (i.e., collision case ②). (a) Simulated parking trajectory. (b) Steering angle profile and velocity profile.

(a)

(b)