Longitudinal Vehicle Guidance Using Fuzzy Logic

This paper presents capabilities of fuzzy logic in longitudinal vehicle guidance. Two aspects in automated driving are presented. The first is trajectory generation for longitudinal vehicle guidance, where the real driver is replaced by fuzzy inference system. The second aspect is design of fuzzy controller which can be implement for leading ideal trajectory in longitudinal direction. Design of fuzzy system is realized in MATLAB environment where the vehicle dynamic is known. This dynamic is result of identification methods realized on the Institute of Automatic Control at the University of Erlangen-Nurnberg. Experimental results for the longitudinal vehicle guidance have been obtained by use of the Audi test vehicle equipped with sensors and control devices.