CALIFORNIA-PATH PROGRAM INSTITUTE OF TRANSPORTATION STUDIES UNIVERSITY OF CALIFORNIA AT BERKELEY A Fuzzy Rule-Based Controller for Automotive Vehicle Guidance

The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This paper has been mechanically scanned. Some errors may have been inadvertently introduced. Abstract A fuzzy rule-based controller is applied to lateral guidance of a vehicle for an automated highway system. The fuzzy rules, based on human drivers' experiences, are developed to track the center of a lane in the presence of external disturbances and over a range of vehicle operating conditions. In the case of a severe road curvature, rules are developed to provide feedforward steering action, utilizing preview information regarding the characteristics of the upcoming curve. A nonlinear model is used to simulate the performance of the fuzzy rule based controller for a variety of scenarios.