Fuzzy Control of Autonomous Vehicle at Non-signalized Intersection in Mixed Traffic Flow

This paper presents a control design methodology for autonomous vehicles at urban intersections based on fuzzy logic in mixed traffic flow. We have assumed there is no cooperation between an autonomous vehicle and the human-driven vehicle for passing the intersection. The autonomous vehicle is responsible for speed adaptation to prevent potential collisions using the fuzzy controller to guarantee a safe intersection crossing maneuver according to the human-driven vehicle position. We have also proposed MPC and PID controllers to simulate path tracking and evaluated both speed and turn controllers at the same time and results of these simulations show positive effects of AV in intersection control and according to RMSE results MPC controller performs effectively better than PID in path tracking.