Title :
Fuzzy logic control for lateral vehicle guidance
Author :
Hessburg, Thomas ; Tomizuka, Masayoshi
Author_Institution :
California Univ., Berkeley, CA, USA
Abstract :
A candidate for intelligent control for lateral guidance of a vehicle is FLC (fuzzy logic control). A modularized FLC (feedback, preview, and gain scheduling modules) is designed based on manual tuning using information from characteristics of human driving operation and an existing controller. Three feedback FLCs with different feedback variables are designed. A fuzzy preview controller is developed to utilize preview information regarding upcoming radius of curvature. Also, a gain scheduling rule-base is designed to choose the appropriate controller based on the velocity of the vehicle. These fuzzy logic control strategies are implemented on the IMRA Test Vehicle, automatically following a multiple curved track using discrete magnetic markers as a lateral error reference system
Keywords :
displacement measurement; feedback; fuzzy control; intelligent control; position control; predictive control; road vehicles; IMRA Test Vehicle; feedback; fuzzy logic control; gain scheduling modules; gain scheduling rule-base; human driving operation; lateral error reference system; lateral vehicle guidance; magnetic markers; manual tuning; multiple curved track; preview control; radius of curvature; Automatic control; Feedback; Fuzzy control; Fuzzy logic; Humans; Intelligent control; Magnetic variables control; Manuals; Navigation; Vehicles;
Conference_Titel :
Control Applications, 1993., Second IEEE Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1993.348341
