The unmanned control of the steering wheel is, at present, one of the most important challenges facing researchers in autonomous vehicles within the field of intelligent transportation systems (ITSs). In this paper, we present a two-layer control architecture for automatically moving the steering wheel of a mass-produced vehicle. The first layer is designed to calculate the target position of the steering wheel at any time and is based on fuzzy logic. The second is a classic control layer that moves the steering bar by means of an actuator to achieve the position targeted by the first layer. Real-time kinematic differential global positioning system (RTK-DGPS) equipment is the main sensor input for positioning. It is accurate to about 1 cm and can finely locate the vehicle trajectory. The developed systems are installed on a Citroe/spl uml/n Berlingo van, which is used as a testbed vehicle. Once this control architecture has been implemented, installed, and tuned, the resulting steering maneuvering is very similar to human driving, and the trajectory errors from the reference route are reduced to a minimum. The experimental results show that the combination of GPS and artificial-intelligence-based techniques behaves outstandingly. We can also draw other important conclusions regarding the design of a control system derived from human driving experience, providing an alternative mathematical formalism for computation, human reasoning, and integration of qualitative and quantitative information.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Power-steering control architecture for automatic driving


    Contributors:
    Naranjo, J.E. (author) / Gonzalez, C. (author) / Garcia, R. (author) / de Pedro, T. (author) / Haber, R.E. (author)


    Publication date :

    2005-12-01


    Size :

    633596 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Power-Steering Control Architecture for Automatic Driving

    Naranjo, José E. / González, Carlos / García Rosa, Ricardo et al. | BASE | 2005

    Free access

    STEERING CONTROL METHOD AND STEERING UNIT FOR AUTOMATIC DRIVING

    SHU KI / GO SUSUMU | European Patent Office | 2022

    Free access

    Automatic driving automobile steering control system

    ZHANG CHUNHUA | European Patent Office | 2020

    Free access

    STEERING CONTROL METHOD AND STEERING WHEEL STEERING DEVICE FOR AUTOMATIC DRIVING

    ZHOU QI / WU DI | European Patent Office | 2024

    Free access