An Automated Parallel Parking Strategy Using Reach Control Theory

Melkior Ornik, Miad Moarref, Mireille E. Broucke

Research output: Contribution to journalArticlepeer-review


We propose a novel method of parallel parking using reach control theory. Reach control is a hybrid control method to achieve complex control objectives. It relies on triangulating the state space, devising a desired sequence of simplices or polytopes that a trajectory needs to pass through to complete a task, and then constructing a separate closed-loop controller on each polytope that enables the system state to move on to the next member of the sequence. For the parallel parking task, we design a state space consisting of eight polytopes, and we use an automated procedure to construct a continuous piecewise-affine controller for each polytope. Extensive simulations demonstrate the robustness of the approach: a vehicle starting from an acceptable initial position performs the maneuver safely and comes to a stop in the desired parking area.

Original languageEnglish (US)
Pages (from-to)9089-9094
Number of pages6
Issue number1
StatePublished - Jul 2017
Externally publishedYes


  • Automated Guided Vehicles
  • Parallel Parking
  • Piecewise Affine Feedback
  • Safety Analysis
  • Switching Control

ASJC Scopus subject areas

  • Control and Systems Engineering


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