Design and validation of a fuzzy longitudinal controller based on a vehicle dynamic simulator

This paper presents a fuzzy longitudinal controller for a wide range of speeds, implementing ACC and Stop&Go control, along with the development of a vehicle dynamics simulator for testing the performance of the fuzzy controller. The fuzzy longitudinal controller has two inputs (speed error and integral of the speed error) and a unique output signal manipulating the opening of the throttle or the brake, according to the sign of the output signal. Several simulations were carried out for adjusting controller parameters and analyzing its performance. Simulation results shows that the proposed fuzzy longitudinal controller achieves excellent speed tracking in a wide range of speeds with high accuracy and minimum steady state error.