Development of automatic driving system on rough road-automatic steering control by fuzzy algorithm

Author

Shigematu, Takashi ; Hashimoto, Yoshiyuki ; Watanabe, Tomoyuki

Author_Institution

Toyota Motor Corp., Higashitfji Tech. Center, Shizuoka, Japan

fYear

1992

fDate

29 Jun-1 Jul 1992

Firstpage

154

Lastpage

159

Abstract

The automatic control method for the vehicle driving test on rough road is discussed. The main requirement of the automated test is that the stress on the vehicle is equivalent to the one given by a driver´s test. In the first step, the evaluated indices of control performance are chosen as the tracking ability for the target course and the approximation of steering pattern for the driver operation. Next, a driver steering model is modified into a control algorithm which can be applied to rough road driving. The essential conditions of the improved algorithm are: (1) stability analysis, and ( 2) optimized parameters. The subjects are solved by the stability criterion of a linear system for (1) and by introducing fuzzy logic for ()2). Finally, the system composition for realizing the control system has been studied, and evaluation tests have been conducted by driving the vehicle on a rough road course

Keywords

fuzzy control; navigation; road vehicles; stability; testing; automatic driving system; automatic steering control; fuzzy control; fuzzy logic; navigation; road vehicles; rough road driving; stability; Automatic control; Automatic testing; Fuzzy logic; Linear systems; Roads; Stability analysis; Stability criteria; Stress; Target tracking; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles '92 Symposium., Proceedings of the

Conference_Location

Detroit, MI

Print_ISBN

0-7803-0747-X

Type

conf

DOI

10.1109/IVS.1992.252249

Filename

252249