Transversal control of an autonomous vehicle by a fuzzy supervisor

This study which deals with the transversal control of a vehicle was carried out as part of the project “Lane Keeping”, which is itself part of the European program PROMETHEUS. The main aim of the study is to bring information to the driver which will help him avoid unintentional lane exits. The task of this copiloting system will therefore be to counter both the driver´s hypovigilant state and his driving mistakes by triggering appropriate alarms. Far from taking the place of the driver, it will gradually warn him should there be abnormal or dangerous situations. In the present state of the project, on open roads, the controller gives quite satisfactory results within the desired utilization limits. The specifications of the final system will be able to be refined thanks to the contributions of ergonomics and security studies carried out jointly