Fuzzification of control timing in driving control of a model car

The authors show that a new fuzzy control method can be realized by the fuzzification of control timing in the left or right turn of a model car. The fuzzy set is introduced to construct the timing of the steering operation for the left turn. The steering angle is determined as a function of the timing. In a simulation, the car trajectory of the fuzzy model curved very smoothly. For any corner turning angles, the trajectory is easily improved by changing the shape of the timing membership functions. This procedure is very similar to the human operation of a car at a corner. The simulations showed that the fuzzy method is useful for control of the car because there are only a few fuzzy rules and simple control procedures