Autonomous vehicles have attracted considerable attention in the research community and industry. This paper addresses a problem in designing lateral control law and develops a strategy to determine the given speed of autonomous vehicles. An improved method for calculating the lateral offset and heading angle error is proposed to reduce the impact of reference path data noise. Multiple fuzzy inference engines are used to design the steering controller and determine the given driving speed, including the forward and backward directions. The stability condition is given to guide the design of fuzzy inference engines. Satisfactory simulation and experimental results have been obtained from different reference paths.
Lateral control of autonomous vehicles based on fuzzy logic
Control Engineering Practice ; 34 ; 1-17
2015
17 Seiten, 29 Quellen
Article (Journal)
English
Lateral control of autonomous vehicles using multi-model and fuzzy approaches
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