학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2014. 2. 이경수. ; This paper presents a vehicle control algorithm for autonomous parking system. The position and heading angle of subject vehicle or parking spot are acquired from the GPS information. Those determine the middle point. Paths which connect the subject vehicle and middle point are generated as a 3rd polynomial curve. It is successfully done by constraints including subject vehicle states, position and heading angle of middle point. The path links the middle point and the goal point follows the same generation process. The steering angle should not exceed the threshold value which is possible to be kept up by vehicles. The vehicle moves to a position near the parking lot. Then using a camera attached to the tail end vehicle, not only parking lanes are recognized in the backward situation but also the accurate middle point and goal point are determined. Automatic Transmission Shifting Control(ATSC) is applied for a gear shift. To generate the paths at various positions around the parking spot, it is verified by a simulation. Also the real size vehicle test is implemented and had a success rate higher than 97 percent. ; Abstract I List of Figures V Nomenclature VI Chapter 1. Introduction 1 Chapter 2. Vehicle Model 2 Chapter 3. Control Algorithm for Automated Parking 3 3.1 Assumption of Parking Environment 3 3.2 Path Generation 3 3.2.1 Middle Point Decision 4 3.2.2 Constraints 6 3.2.3 Coordinate Transformation 7 3.2.4 3rd Polynomial Path Generation 8 3.3 Steering Wheel Angle Decision 9 3.4 Velocity Control 10 3.5 Parking Sequence 10 3.6 Vision Information Analysis 11 Chapter 4. Simulation Results 13 Chapter 5. Vehicle Test 14 5.1 Vehicle Composition 14 5.2 Test Results 16 Chapter 6. Summary / Conclusions 19 Bibliography 20 초 록 22 ; Master