Self-Adjusting Fuzzy Logic Control for Vehicle Lateral Control

This paper deals with the lateral control of vehicles in Automated Highway Systems with the main emphasis on the lane change maneuvers. The desired trajectory for the lane change maneuvers, called the Virtual Desired Trajectory (VDT), is designed considering passenger's comfort and required transition time for the maneuver. The Self-Adjusting Fuzzy Logic controller is proposed as the tracking controller to make the vehicle to follow the VDT. Simulations have been conducted to evaluate the performance of the closed loop system under various driving conditions, and the results is presented to show the feasibility of using the designed Self-Adjusting Fuzzy Logic control for the lane change maneuver.