Automatic Parking Controller with a Twin Artificial Neural Network Architecture

Figure 11

Simulated results of the proposed simple ANN agent without a collision prediction algorithm when SL = 4.4 m and RRP at position (, ) = (5.7, 1.4). AB side of the vehicle collides with the border of the parking slot while the vehicle moves back and forth (i.e., collision case ③ in addition to collision case ②). (a) Simulated parking trajectory. (b) Steering angle profile and velocity profile.

(a)

(b)