Download Autonomous Parking

Cruise control and wheel angle control design
Cruise control and wheel angle control blocks were built in the RCV’s dSPACE box. The picture
below is the cruise control block, which is a PI control mechanism. A rate limiter is placed after
the reference velocity input port in order to make RCV initialize smoothly and stop immediately.
The purpose of the switch block is to reset the PI controller when the reference speed is set to zero.
In addition, anti-windup function in PI controller is activated so that the problem of saturation is
prevented.
Cruise control loop
The input of wheel angle control ranges from -30 degree to 30 degree. Thanks to Petter’s good
work, the reference wheel angle is converted into four wheel steering angles after Ackermann
calculation block.
Wheel angle control loop
3