Vision Based Steering Controller for Intelligent Vehicles via Fuzzy Logic

摘要：

his paper presents the design and stability analysis of a steering controller. The objective of the controller is to steer a ground vehicle along a reference line located in the middle of the lane to be followed. An adaptive steering controller for ground vehicles through a closed loop control strategy is proposed. To design the maneuver controller, fuzzy logic is used to imitate human drivers behavior. Based on the widely used dynamic vehicle model, the stability of the designed controller is proved. Simulation results are presented to illustrate the adaptability of the proposed control strategy for different lane curvature inputs.

关键词： intelligent vehicle fuzzy control closed loop lane detection steering control

作者: Rui Ling Huan Shen Jun Gu Jianguo Mao Yanzhao Zhang Xiaodong Miao Huiyu Zhang

作者单位: College of Energy & Power Engineering Nanjing University of Aeronautics and Astronautics, NUAA Nanjing, China

会议类型: 国际会议

会议名称: 2011 International Conference on Electronics and Optoelectronics(2011电子学与光电子学国际会议 ICEOE 2011)

会议地点: 大连

会议语种:英文

页码: 1333-1336

在线出版日期: 2011-07-29（万方平台首次上网日期，不代表论文的发表时间）