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Experimental Results Of Fuzzy Logic Control For Lateral Vehicle Guidance

Author

Listed:
  • Hessburg, Thomas
  • Peng, Hei
  • Zhang, Wei-bin
  • Arai, Alan
  • Tomizuka, Masayoshi

Abstract

A Fuzzy logic controller (FLC) is designed and implemented in real time on a Toyota Celica test vehicle to achieve control of the lateral motion of the vehicle. The structure of the FLC is modularized as a feedback, preview, and gain scheduling rule base. The parameters of the FLC are tuned manually using information from characteristics of human driving operation and an existing controller. The fuzzy logic control strategies are implemented on the test vehicle, automatically following a multiple curved track using discrete magnetic markers as a lateral error reference system. The test results of the FLCs are shown with variations in driving conditions, and a comparison is made to similar tests conducted using the frequency shaped linear quadratic (FLSQ) controller with preview control.

Suggested Citation

  • Hessburg, Thomas & Peng, Hei & Zhang, Wei-bin & Arai, Alan & Tomizuka, Masayoshi, 1994. "Experimental Results Of Fuzzy Logic Control For Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt1jv1q3md, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt1jv1q3md
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    Cited by:

    1. Hessburg, Thomas & Tomizuka, Masayoshi, 1995. "Fuzzy Logic Control For Lane Change Maneuvers In Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4zs9k1vx, Institute of Transportation Studies, UC Berkeley.
    2. Chee, Wonshik & Tomizuka, Masayoshi, 1994. "Vehicle Lane Change Maneuver In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt29j5s3gk, Institute of Transportation Studies, UC Berkeley.

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