Title: An expert fuzzy strategy for vehicle lateral control under urban environments

Authors: Jing Yang, Nan-Ning Zheng

Addresses: Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi 710049, China. ' Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi 710049, China

Abstract: Under urban environments, vehicle lateral control faces new challenges, such as autonomous driving not only with a small steering angle of front wheel but also with a large one, which has rarely been reported in previous papers. In this paper, an Expert Fuzzy Controller (EFC) with the strategy of two look-ahead points is proposed to gain good control performance in all driving tasks. At the end of the paper, simulation and experiment results are presented to show that the proposed expert fuzzy strategy is accurate and effective for the normal lateral control problem under urban environments.

Keywords: lateral control; fuzzy expert control; intelligent control; autonomous vehicles; vehicle control; urban environments; fuzzy control; simulation.

DOI: 10.1504/IJVAS.2010.035799

International Journal of Vehicle Autonomous Systems, 2010 Vol.8 No.2/3/4, pp.263 - 284

Received: 27 Mar 2009
Accepted: 27 Feb 2010
Published online: 04 Oct 2010 *

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