Hafner, M. and Bales, J., "Low-Speed Longitudinal Distance Control with Applications to Parking," SAE Technical Paper 2017-01-0036, 2017, doi:10.4271/2017-01-0036.
We introduce a controller designed to stop a vehicle smoothly and accurately at a specified distance target, while being robust to unmeasured disturbances. This controller has a wide range of applications in instances where low speed longitudinal control of a vehicle is desired. Controller design was validated in a simulation using an ideal vehicle model based on first principles. Real world testing and tuning was performed on a full-size pickup truck to demonstrate controller performance.