Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1-17 |
| Number of pages | 17 |
| Journal | Control Engineering Practice |
| Volume | 34 |
| DOIs | |
| Publication status | Published - 1 Jan 2015 |
Keywords
- Autonomous vehicle
- Fuzzy logic
- Given driving speed
- Lateral control
- Multiple look-ahead distances
- Steering control