Advertisement

Soft Computing and Geometrical Control for Computer Aided Driving

  • Javier Alonso Ruiz
  • Teresa de Pedro
  • Carlos González
  • Ricardo García
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3643)

Abstract

After having designed control systems for real autonomous cars in an urban environment using straight lines as reference [2], we are now trying to build a fuzzy control system based on clothoids [3], the curve used in roads and train tracks. This paper proposes a method based on soft computing and upgraded using genetic algorithms. Both sets of simulations are shown and compared.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    García, R., de Pedro, T.: First Application of the ORBEXoprocessor: Control of Unmanned Vehicles. Mathware and Soft Computing 2-3(7), 265–273 (2000)Google Scholar
  2. 2.
    García, R., de Pedro, T., Earanjo, J.E., Reviejo, J., González, C.: Frontal and Lateral Control for Unmanned Vehicles in Urban Tracks. In: IEEE Intelligent Vehicle Symposium, IV 2002 (2002)Google Scholar
  3. 3.
    Jiménez Shaw, J.: Resolución numérica completa de la Ecuación de la Clotoide, web page and Clothos constants calculation program, http://javier.jimenezshaw.com/
  4. 4.
    Laugier, C., Fraichar, T.: Decisional Architectures for Motion Autonomy. In: Vlacit, P. (ed.) Intelligent Vehicle Technologies, ch. 11, Harashima, SAE International, ISBN 0 7680 0780 IGoogle Scholar
  5. 5.
    Naranjo, J.E., Reviejo, J., Gonzalez, C., García, R., de Pedro, T.: A Throttle & Brake Fuzzy Controler: Towards the Automatic Car. In: Moreno-Díaz Jr., R., Pichler, F. (eds.) EUROCAST 2003. LNCS, vol. 2809, pp. 291–301. Springer, Heidelberg (2003)CrossRefGoogle Scholar
  6. 6.
    Norm 3.1-IC “Trazado” Web page, http://www.carreteros.org

Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Javier Alonso Ruiz
    • 1
  • Teresa de Pedro
    • 1
  • Carlos González
    • 1
  • Ricardo García
    • 1
  1. 1.Industrial Automation Institute, CSICMadridSpain

Personalised recommendations