Fuzzy logic steering control of autonomous vehicles inside roundabouts

Rastelli, Joshué Pérez; Santos, Matilde

doi:10.1016/j.asoc.2015.06.030

Cited by 74 publications

(24 citation statements)

References 15 publications

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“…A roundabout intersection involves a merge/de-merge type traffic where a vehicle first merges into the center circle, travels counter-clockwise (in the U.S.), and then de-merges from the circle [8]. Autonomous vehicle control particularly for roundabouts have been investigated in [9], [10], where vehicle interactions in multi-vehicle scenarios are not considered.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Game-Theoretic Decision Making for Autonomous Vehicle Control at Roundabouts

Tian

et al. 2018

2018 IEEE Conference on Decision and Control (CDC)

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Section: Introductionmentioning

confidence: 99%

Adaptive Game-Theoretic Decision Making for Autonomous Vehicle Control at Roundabouts

Tian

et al. 2018

2018 IEEE Conference on Decision and Control (CDC)

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“…Le suivi d'une trajectoire de référence peut se faire de deux manière différentes : la première utilise en référence un point projeté à l'avant du véhicule [Cai et al, 2003] et [Litkouhi et al, 1993], la deuxième utilise directement comme référence la position du centre de gravité mesurée par des capteurs [Tan et al, 2002] et [Guldner et al, 1999]. Concernant les techniques même de régulation déjà utilisées, on retrouve le PI [Pérez et al, 2011], la commande H ∞ [O'Brien et al, 1996], le contrôle flou [Rastelli and Peñas, 2015], le contrôle par mode glissant [Hingwe and Tomizuka, 1997], le contôle prédictif MPC (Model Predictive Control) [Attia et al, 2014] ou encore des réseaux de neurones [Kornhauser, 1991].…”

Section: Introductionunclassified

Etude comparative de structures de régulation pour le guidage latéral d’un véhicule autonome

Monot¹,

Moreau²,

Benine-Neto³

et al. 2018

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La vitesse longitudinale a un impact important sur la dynamique latérale du véhicule et peut donc rendre problématique le suivi de trajectoire. L'objectif de ce papier est de présenter différentes stuctures de régulation pour le guidage latéral d'un véhicule autonome. Ces structures sont : un PID simple, une boucle imbriquée avec un PI et un PID, un multi régulateur pondéré à base de PID. Ils sont comparés avec des simulations de changement de voie à vitesse constante pour différentes vitesses. Le papier met en évidence le fait qu'un PID seul n'est pas capable de garantir la stabilité du système dans tous les cas et que le multi PID permet le meilleur suivi de trajectoire. ABSTRACT. The lateral dynamics of the vehicle is strongly impacted by the longitudinal speed bringing problems to trajectory tracking. In this paper, several control structures based on PID are compared for the lateral guidance of autonomous vehicle. It includes a classic PID, a nested loop and a multi-PID controller. A comparison is made through an overtaking simulation for different speeds. The paper highlights that a PID alone cannot guarantee the stability of the closed loop in every situation and that among the three structures, the multi-PID controller allows the best tracking. MOTS-CLÉS. Véhicule autonome, suivi de trajectoire, contrôle commande, PID.

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“…The lane changing control of vehicle collision avoidance maneuver was explored by Kim et al (2009). Rastelli and Penas (2015) applied the fuzzy logic technology to the vehicles’ steering control. Hsu and Liu (2008) used lane changing control strategy of vehicle team based on vehicle kinematic model.…”

Section: Introductionmentioning

confidence: 99%

Lane changing trajectory planning and tracking control for intelligent vehicle on curved road

Wang

Zhao

et al. 2016

SpringerPlus

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This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

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Fuzzy logic steering control of autonomous vehicles inside roundabouts

Cited by 74 publications

References 15 publications

Adaptive Game-Theoretic Decision Making for Autonomous Vehicle Control at Roundabouts

Adaptive Game-Theoretic Decision Making for Autonomous Vehicle Control at Roundabouts

Etude comparative de structures de régulation pour le guidage latéral d’un véhicule autonome

Lane changing trajectory planning and tracking control for intelligent vehicle on curved road

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