A Fuzzy Logic Scheme for Lateral Control of an Unmanned Vehicle

Abstract:

The purpose of unmanned vehicle lateral control is to track a desired trajectory in a small error, in order to achieve a stable tracking under different pavements and wind resistance conditions. This paper presents a vehicle lateral control scheme based on fuzzy logic control. A simplified vehicle lateral dynamics model is first obtained by linearizing the original 6-DOF vehicle model, and then the lateral control is decomposed into two modules: steering wheel angle control and steering wheel speed control. Fuzzy logic control for the two modules is developed and simulated by using CarSim and Simulink. The results demonstrate that the fuzzy controller can achieve a high tracking accuracy with a good dynamic performance.

• Periodical: Advanced Materials Research (Volume 1046)
• Pages: 250-254
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1046.250
• Online since: October 2014
• Authors: Yu Fang Zhang, Xiao Nian Wang*, Ping Jiang, Jin Zhu
• Keywords: Carsim Simulation, Fuzzy Control, Lateral Control, Path Tracking

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