A force guidance system for car-like vehicle with fuzzy impedance controller

Considering the safety of vehicle, we propose a guidance system to lead the driver a good direction through a proper reaction force, which is generated by a fuzzy-impedance-controlled motor. Fuzzy impedance is based on fuzzy instruction that is a fuzzy set of control instruction candidates with reasoning of Takagi-Sugeno(T-S) fuzzy model. The achieved impedance characteristics depend on the rules of T-S fuzzy model. A human-vehicle interaction experiment was preformed to demonstrate the practical application of the proposed impedance and verify the effectiveness of the proposed guidance system.