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To overcome the shortcoming that vehicles with multiple steering modes need to switch steering modes at parking or very low speeds, a dynamic switch method of steering modes based on MOEA/D (Multi-objective Evolutionary Algorithm Based on Decomposition) was proposed for 4WID-4WIS (Four Wheel Independent Drive-Four Wheel Independent Steering) electric vehicle, considering the smoothness of dynamic switch, the lateral stability of the vehicle and the energy economy of tires. First of all, the vehicle model of 4WID-4WIS was established, and steering modes were introduced and analyzed. Secondly, the conditions for the dynamic switch of steering modes were designed with the goal of stability and safety. According to different constraints, the control strategy was formulated to obtain the target angle of the active wheels. Then aiming at the smoothness of the dynamic switch, the active wheel angle trajectory was constructed based on the B-spline theory.

This paper presents a robust real-time rear-view camera-based parking guidance algorithm capable of parking a host vehicle, utilizing a single car-mounted rear-view fish-eye camera. A distortion correction algorithm was developed to correct for fish-eye distortion. A static and dynamic overlay algorithm was developed to show the vehicle path with marked distances as the vehicle is turning during reverse. A parallel parking algorithm was developed to identify whether the available parking area is sufficient for the host vehicle. The algorithm decides the start point for parking and safely steers the host vehicle parallel to the road and in between two other parked vehicle. An angle parking algorithm was developed to identify whether the available parking area is sufficient for the host vehicle. This algorithm decides the start point for parking and steers the host vehicle between two other parked vehicles at the same angle.