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World Electric Vehicle Journal is published by MDPI from Volume 9 issue 1 (2018). Articles in this Issue were published by The World Electric Vehicle Association (WEVA) and its member the European Association for e-Mobility (AVERE), the Electric Drive Transportation Association (EDTA), and the Electric Vehicle Association of Asia Pacific (EVAAP). They are hosted by MDPI on mdpi.com as a courtesy and upon agreement with AVERE.
Open AccessArticle

Non-linear Optimal Controller Design of Vehicle With Low Speed Operation Based On Data Mining Algorithm

1
Toyota Technological Institute, 2-12-1, Hisakata Tenpaku, Nagoya, Japan
2
Samsung Electro-mechanics 314 Metan3 Youngtong, Suwon, Kyonggido, Korea
*
Author to whom correspondence should be addressed.
World Electr. Veh. J. 2007, 1(1), 10-18; https://doi.org/10.3390/wevj1010010
Published: 28 December 2007
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Abstract

In this paper, we realize parallel parking task based on two-stage modeling method, where parking task model and vehicle dynamical model are developed respectively and incorporated into a entire model in a seamless manner. The vehicle dynamics is highly constrained by non-holonomic constraint with nonlinear tire characteristics. In order to describe vehicle dynamics, we use a new data mining based affine system modeling method. The entire parking task model is combined with several sub-parking task models, which consist of some conditions in state-input space of the system and their transitions to another. The incorporation of the both parking task model and vehicle dynamical model is realized using finite state machine. The proposed model is very general that regardless of the initial position of the vehicle, it is successfully controlled to move into the parking space. In the later part of this paper, we present a mathematical programming based optimal control scheme where the optimal inputs are selected among the permissible set of the input variable, considering all the limitations specified by linear inequalities. In order to confirm the usefulness of the proposed method, some simulation results are shown.
Keywords: Data Mining; Optimal Control; Non-linear; Stochastic Model; Reproducibility Data Mining; Optimal Control; Non-linear; Stochastic Model; Reproducibility
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Kim, Y.; Matsuzaki, S.; Narikiyo, T.; Kim, J.-H. Non-linear Optimal Controller Design of Vehicle With Low Speed Operation Based On Data Mining Algorithm. World Electr. Veh. J. 2007, 1, 10-18.

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