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Vehicle Trajectory Control using Fuzzy Logic Controller  

이승종 (한양대학교 자동차공학과)
조현욱 (삼성자동차)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.11, 2003 , pp. 91-99 More about this Journal
Abstract
When the driver suddenly depresses the brake pedal under critical conditions, the desired trajectory of the vehicle can be changed. In this study, the vehicle dynamics and fuzzy logic controller are used to control the vehicle trajectory. The dynamic vehicle model consists of the engine, the rotational wheel, chassis, tires and brakes. The engine model is derived from the engine experimental data. The engine torque makes the wheel rotate and generates the angular velocity and acceleration of the wheel. The dynamic equation of the vehicle model is derived from the top-view vehicle model using Newton's second law. The Pacejka tire model formulated from the experimental data is used. The fuzzy logic controller is developed to compensate for the trajectory error of the vehicle. This fuzzy logic controller individually acts on the front right, front left, rear right and rear left brakes and regulates each brake torque. The fuzzy logic controlling each brake works to compensate for the trajectory error on the split - $\mu$ road conditions follows the desired trajectory.
Keywords
trajectory control; fuzzy logic controller; split - ${\mu}$ road condition; brake torque; trajectory error;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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