Parallel Parking System Design with Fuzzy Logic Control

Mochamad Irwan Nari, Zainul Mustain, Syamsiar Kautsar, Satryo Budi Utomo


The difficulty with parallel parking, especially when going backwards is when adjusting the steering wheel so that the car can park in the right direction. Based on these problems, this study aims to design an automatic parking system. To improve parking success, a trajectory tracking system with fuzzy logic control will be implemented on a 1/7.5 scale test car. The coordinates obtained from the bicycle kinematic model are compared with the design trajectory. The difference between the facing direction read by the gyroscope sensor and the trajectory design is processed using a fuzzy logic controller to direct the servo motor as the steering wheel. The test results obtained that the error value for the position and direction facing in the automatic parking test using fuzzy logic control is 1.25cm and 1.59°.

Keywords: Trajectory tracking, gyroscope, fuzzy logic control, parallel parking

Full Text:



Martani, A., Andani Achmad, & Dewiani. (2017). Control System Prototype for The Implementation Of Four-wheeled Vehicle Parking. Jurnal IT, 109-117.

Shin, J., & Hong-Bae Jun. (2014). A Study on Smart Parking guidance algorithms. Transportation Research Part C, 299-317.

Fahmizal, Budi Bayu M., Donny Budi P., & Afrizal Mayub. (2018). Fuzzy Logic Control on Line Tracking Car Like Mobile Robot (CLMR). ELKOMIKA, 451-464.

Overa, A. T., & Aria, M. (2014). Vehicle Guide System for Parallel Parking Automatically, Telekontran, Vol. 2 No. 1.

Wahab, Muhammad Faiz B., Aung Lwin M., Aminudin Bin A., Zulkifli Bin Y., & Ari Legowo. (2015). Development of Automated Parallel Parking System in Small Mobile Vehicle. ARPN Journal of Engineering and Applied Sciences, 7107-7111.

Yang, W., Zheng, L., Li, Y., Ren, Y., & Li, Y. (2017). A Trajectory Planning and Fuzzy Control for Autonomous Intelligent Parking System. SAE Technical Paper 2017-01-0032.

Nakrani, N., & Maulin Joshi. (2018). An Intelligent Fuzzy based Hybrid Appoach for Parellel Parking Dynamic Environment. International Conference on Robotics and Smart Manufacturing, (pp. 82 - 91).

Xu, Y., Zefeng L., Xin S., Wenhao J., Bo Wei, & Yingqing Wang. (2018). Study on Automatic Parking Method Based on the Sliding Mode Variable Structure and Fuzzy Logical Control. Symmetry, 1-13.

Huang, S. J., & Hsu, Y. S. (2017). Parking Space Detection and Trajectory Tracking Control for Vehicle Auto-Parking. World Academy of Science, Engineering and Technology, International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 11(10), 1700-1706. https://

Ballinas, Enrique., Oscar Montiel, Oscar Castillo, Yoshio Rubio, & Luis T Aguilar. (2018). Automatic Parallel Parking Algorithm for a Car-like Robot using Fuzzy PD+I Control. Engineering Letters, 455-460.

Li, Chenxu., Haobin Jiang, Shidian Ma, Shaokang Jiang, & Yue Li. (2020). Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles. Applied sciences, 1-27.

Nakrani, N., & Maulin Joshi. (2016). Fuzzy Based Autonomous Parallel Parking Chalenges in Real Time Scenario. International Advances in Intelligent Systems and Computing, (pp. 789-790).

Aye, Y.Y., Keigo Watanabe, Shoichi Maeyama, & Isaku Nagai. (2016). Image-based Fuzzy Control of A Car-Like mobile robot for Parking Problems. IEEE International Conference on Mechatronics and Automation. 502-507.

Rashid, Md Mamunur, Mirza Mustafizur R., Omar Naser A., & Abubakar Abdullahi. (2019). Autonomous 4WD Smart Car Parallel Self-Parking System by Using Fuzzy Logic Controller. American International Journal of Sciences and Engineering Research, 1-31.

Dephup RI. (1996). Keputusan Direktur Jenderal Perhubungan Darat nomor 272 tahun 1996 tentang Pedoman Teknis Penyelenggaraan Fasilitas Parkir. Jakarta: Dephub.



  • There are currently no refbacks.



 Statistic and Traffic