Title: Automatic car driving based on fuzzy logic and GNSS

Authors: Jose E. Naranjo, Carlos Gonzalez, Ricardo Garcia, Teresa De Pedro, Miguel A. Sotelo

Addresses: Instituto de Automatica Industrial (CSIC), La Poveda – Arganda del Rey, 28500 Madrid, Spain. ' Instituto de Automatica Industrial (CSIC), La Poveda – Arganda del Rey, 28500 Madrid, Spain. ' Instituto de Automatica Industrial (CSIC), La Poveda – Arganda del Rey, 28500 Madrid, Spain. ' Instituto de Automatica Industrial (CSIC), La Poveda – Arganda del Rey, 28500 Madrid, Spain. ' University of Alcala, Edificio Politecnico, Campus Universitario s/n, Madrid, Spain

Abstract: The goal of Intelligent Transport Systems (ITS) is to fully automate driving. ITS is the application of technology to vehicles and roadways to increase safety. Adaptive Cruise Control (ACC) and other assistants are all part of ITS. There is consensus among professionals that developments will move progressively from ACC to automatic driving. In this paper, we resent an approximation to automatic driving, which differs from other developments mainly in that it is based upon global navigation satellite system and artificial vision information. Also the computation for navigation is based on a set of fuzzy logic controllers that manage the vehicle actuators. Mass-produced cars have been instrumented to behave automatically when circulating in private circuits. A fuzzy controller has been designed to manage the vehicle actuators: steering wheel, throttle and brake. Automatic driving tests have been performed, resulting in very human-like vehicle management, in steering as well as speed control.

Keywords: fuzzy control; global positioning systems; intelligent control; road vehicle control; automatic driving; car driving; fuzzy logic; GNSS; intelligent transport systems; ITS; vehicle actuators; vehicle management; artificial vision; vehicle autonomous systems; autonomous vehicles.

DOI: 10.1504/IJVAS.2006.012211

International Journal of Vehicle Autonomous Systems, 2006 Vol.4 No.2/3/4, pp.250 - 267

Available online: 28 Jan 2007 *

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