Automatic Parking Controller with a Twin Artificial Neural Network Architecture

Table 1

Variables and parameters used in bicycle kinematic model of vehicles.

Symbol	Description
	Center of the rear wheel in the bicycle kinematic model
	Coordinates of front-left corner of a vehicle
	Coordinates of front-right corner of a vehicle
	Coordinates of rear-right corner of a vehicle
	Coordinates of rear-left corner of a vehicle
	Distance between front and rear wheelbase
	Distance of front (rear) overhang of the vehicle
	Width of the vehicle
	Velocity of the vehicle at the center of rear wheels
	Corresponding acceleration
	Yaw angle
	Front wheel angle
	Angular velocity of wheel steering angle