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Experimental Results Of Fuzzy Logic Control For Lateral Vehicle Guidance

  • Author(s): Hessburg, Thomas
  • Peng, Hei
  • Zhang, Wei-bin
  • Arai, Alan
  • Tomizuka, Masayoshi
  • et al.
Abstract

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.

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