Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An intelligent cruise control system using a self-tuning fuzzy algorithm

자기조절 퍼지 알고리듬을 이용한 지능순항제어시스템 개발

  • Jung, Seung-Hyun ;
  • Lee, Gu-Do (Dept. of Electronic Electrical Engineering, Pohang University of Science and Technology) ;
  • Kim, Sang-Woo (Dept. of Electronic Electrical Engineering, Pohang University of Science and Technology) ;
  • Park, Poo-Gyeon (Dept. of Electronic Electrical Engineering, Pohang University of Science and T)
  • 정승현 ((주) 건인) ;
  • 이구도 (포항공과대학교 전자전기공학과) ;
  • 김상우 (포항공과대학교 전자전기공학과) ;
  • 박부견 (포항공과대학교 전자전기공학과)
  • Published : 1998.02.01
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Abstract

The Intelligent Cruise Control system, ICC, is a driver assisting system for controlling relative speed and distance between two vehicles in the same lane. The ICC may be considered as an extension of a traditional cruise control, not only keeping a fixed speed of the vehicle, but correcting the speed also to that of a slower one ahead. This paper presents a real-time self-tuning fuzzy control algorithm to develop ICC. The self-tuning fuzzy control law is adopted to reduce the effects of nonlinearities of the vehicle and various road environments. In the self-tuning algorithm an interior penalty method is applied to preserve the inherent order of membership functions and is modified as an on-line algorithm for real time application. Via simulations, the performance of the suggested control algorithm is compared with a PID and a fuzzy control without self-tuning. The suggested control algorithm is implemented on PRV III and the results of the test driving on a local road are given.

Keywords

References

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