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.

This report summarizes an experimental effort in integrating and testing an automated vehicle lateral control system. The project, a cooperative effort between the California Partners for Advanced Transit and Highway ( PATH) Program and IMRA America, Inc., included a discrete roadway reference system, on-vehicle magnetic sensing system, a computer control system and a hydraulic actuator.