NDLI: An Expert Fuzzy Controller for Vehicle Lateral Control

Content Provider	IEEE Xplore Digital Library
Author	Jing Yang Nanning Zheng
Copyright Year	2007
Description	Author affiliation: Xi'an Jiaotong Univ., Xian (Jing Yang; Nanning Zheng)
Abstract	Vehicle lateral control is a challenging problem in areas of intelligent transportation systems (ITS) and automatic control for autonomous vehicles. Most of solutions for lateral control proposed, such as PID, simple fuzzy logic control and H- infinity, are proved accurate and effective only in simple driving task, such as lane changing, lane following and small curvature crossing turning action. For big curvature crossing turning action, the solutions mentioned above haven't dealt with In this paper, we propose an expert fuzzy controller, which is based on a 2 degree of freedom (2DOF) vehicle lateral dynamic model, to solve the problem both in simple driving task and big curvature crossing turning action. The traditional 2DOF analytic model is used in lane changing, lane following and small curvature crossing turning actions, while an experimental model is used in big curvature crossing turning That is because the traditional 2DOF analytic model is set up based on the hypothesis that the steering angle of front wheel is small. The experimental model is proved accurate and effective in the realistic driving experiments. In addition, it is proved that the expert fuzzy controller is effective to solve the lateral control problem in complicated driving tasks, such as lane changing, lane following, small and big curvature crossing turning actions, in both simulations and experiments.
Starting Page	880
Ending Page	885
File Size	1341536
Page Count	6
File Format	PDF
ISBN	1424407834
ISSN	1553572X
DOI	10.1109/IECON.2007.4459960
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-11-05
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Automatic control Turning Remotely operated vehicles Mobile robots Intelligent transportation systems Control systems Intelligent vehicles Three-term control Fuzzy logic intelligent control expert fuzzy control lateral control autonomous vehicle
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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