Fuzzy Logic based Autonomous Parking Systems -- Part II: A Hybrid Dual Controller System

Abstract: This paper presents an intelligent autonomous parking system with Hybrid Fuzzy Controllers (HFCs). The system enables intelligent vehicles to perform slot detection, parallel and vertical parking in a completely unmanned environment. The HFC, constituting of a Base Fuzzy Controller (BFC) and a Supervisory Fuzzy Controller (SFC), optimizes the control logic to counteract external disturbances in parking process by implementing additional fuzzy rule base. Customized HFCs are designed for critical steps in parking, namely turning control and posture stabilization. As a result, more accurate and efficient parking is achieved even when there are uncertainties in vehicle length and friction. Simulated experiments are carried out in MATLAB to verify the robustness of new HFCs and to demonstrate the performance improvement compared with the previous Fuzzy based Onboard System (FBOS).