Power-Steering Control Architecture for Automatic Driving

This paper presents an automatic steering control architecture, based on a combination of fuzzy logic and proportional-integral (PID) control, for controlling the lateral guidance of a vehicle. A two layer control architecture is used for the automatic steering. The first layer, which is based on fuzzy logic, calculates the target position of the steering wheel at any time. The second layer is a classic control layer that uses an actuator to move the steering bar in order to achieve the position targeted by the first layer. The main sensor input for positioning involves a real-time kinematic differential global positioning system (RTK-GPS). The paper describes the application of the developed system on a Citroen van, relating that the resulting steering maneuvering is very similar to human driving and has minimal trajectory errors from the reference route.

• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Authors:
  • Naranjo, Jose E
  • Gonzalez, Carlos
  • Garcia, Ricardo
  • de Pedro, Teresa
  • Haber, Rodolfo E
• Publication Date: 2005-12

Language

• English

Media Info

• Media Type: Print
• Features: Figures; References;
• Pagination: pp 406-415
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 6
  • Issue Number: 4
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Automatic steering control; Fuzzy controllers; Global Positioning System; Power steering
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment; I90: Vehicles;

Filing Info

• Accession Number: 01018551
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: BTRIS, TRIS
• Created Date: Feb 2 2006 9:33AM