The final master's thesis analyses the application of fuzzy logic method for vehicle control. For the research, mathematical model is developed, which consists of: model of a car with 3 degrees of freedom; two kinematic car models; speed control and trajectory control system, decision making system and visualization unit. 3 fuzzy logic controllers are used for decision making. The first is responsible for determining the need for overtaking, the second for assessing the situation with regard to the oncoming vehicle when the need for overtaking arises, and the third is responsible for selecting the appropriate trajectory and speed modes. The STANLEY controller is used to control the trajectory, and the ACC MPC system is used to maintain distance and speed. The paper presents graphs that show the influence of variable parameters for the control of an autonomous vehicle, performing an overtaking maneuver or maintaining distance and speed. Structure: introduction, review of autonomous vehicle technologies, theoretical part of the research, experimental research and the most important results, conclusions, references. Thesis consists of: 77p. text without appendixes, 44 pictures, 14 tables, 32 bibliographical entries. Appendixes included.
Neraiškiosios logikos metodo taikymas savavaldei transporto priemonei valdyti ; Fuzzy logic application for autonomous vehicle control
2021-06-03
Theses
Electronic Resource
Lithuanian , English
autonomous , vehicle , fuzzy , logic , control
DDC: | 629 |
An Autonomous Vehicle with Fuzzy Logic Navigational Control
British Library Conference Proceedings | 1993
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