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Speed Fuzzy Logic Control for an Autonomous Vehicle


 Autonomous vehicles can be used in variety of applications such as hazardous environment or intelligent highway system. Fuzzy logic seems to be an appropriate choice for this area since it can deal with uncertainties. This paper proposes a fuzzy logic controller for the speed of an autonomous vehicle as it moves toward a target amid static and dynamic obstacles. The controller is divided into separate modules to mimic the way humans think while driving. One module speeds and slows the vehicle as it moves toward the target while another controls the speed in the neighborhood of obstacles. A third module controls the speed of the vehicle as it turns sharp corners. The paper also proposes a method for automatic tuning of the target throttle control module to stabilize the velocity of the vehicle as it approaches its target. The paper contains a simulation example to demonstrate the presented concepts.