Autonomous Vehicles Lateral Control under Various Scenarios

Abstract

In this paper, the autonomous vehicle presented as a discrete-time Takagi-Sugeno fuzzy (T-S) model. We used the discrete-time T-S model since it is ready for the implementation unlike the continuous T-S fuzzy model. The main goal is to keep the autonomous vehicle in the centreline of the lane regardless the external disturbances. These disturbances are the wind force and the unknown curvature; they are applied to test if the autonomous vehicle moves from the centreline. To ensure that the autonomous vehicle remain on the centreline we propose a discrete-time fuzzy lateral controller called also steering controller.