Author/Authors :
Gaffari ، A. نويسنده Professor Mechanical Engineering Department, Islamic Azad University, South Tehran Branch, Tehran , , Khodayari ، A. نويسنده Mechanical Engineering Department, Islamic Azad University, Pardis Branch, Tehran, Iran. , , Gharehpapagh ، B. نويسنده Mechanical Engineering Department, Islamic Azad University, South Tehran Branch, Tehran, Iran. , , Salehinia ، S. نويسنده Mechanical Engineering Department, Islamic Azad University, Pardis Branch, Tehran, Iran. ,
Abstract :
In this paper a control system has been designed to improve traffic conditions in car following maneuver.
There are different methods to design a control system. In this paper design approach is based on the Fuzzy
sliding mode control (FSMC) system. The aim of designing FSMC system is to achieve safe and desire
longitudinal distance and less lateral displacement. In order to control and obtain desired longitudinal and
lateral movements, suitable values of composite torque and steering angle is generated. At first to design of
FSMC system, a nonlinear dynamics model of vehicle with three degrees of freedom is presented and
validated with real traffic data. Then, the performance of the FSMC system has been evaluated by real car
following data. At the end, the simulation results of FSMC are compared with the first and second order
sliding mode control. Simulation result shows that performance of FSMC is better than sliding mode
control. Also by comparing between FSMC and real driver, it is shown that FSMC is much safer than a real
human driver in keeping the longitudinal distance and also the FSMC produces less lateral displacement in
the lateral movement too.
