Experimental Results of Fuzzy Logic Control for Lateral Vehicle Guidance

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.

• Record URL:
  • https://escholarship.org/uc/item/1jv1q3md
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/10551425
• Supplemental Notes:
  • Publication Date: 1994 Published By: California PATH Program, Institute of Transportation Studies, University of California, Berkeley, Calif.
• Corporate Authors:

  University of California, Berkeley

  California PATH Program, Institute of Transportation Studies
  Richmond Field Station, 1357 South 46th Street
  Richmond, CA  United States  94804-4648

  California Department of Transportation

  1120 N Street
  Sacramento, CA  United States  95814
• Authors:
  • Hessburg, Thomas
• Publication Date: 1994

Language

• English

Media Info

• Media Type: Digital/other
• Pagination: 45 p.
• Serial:
  • PATH Research Report
  • Publisher: University of California, Berkeley
  • ISSN: 1055-1425

Subject/Index Terms

• TRT Terms: Advanced vehicle control systems; Automatic steering control; Fuzzy controllers
• Subject Areas: Operations and Traffic Management;

Filing Info

• Accession Number: 00785271
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Report/Paper Numbers: UCB-ITS-PRR-94-03
• Files: PATH, STATEDOT
• Created Date: Nov 17 2000 12:00AM