Chassis Control based on Fuzzy Logic

Carlos Albertos Vivas Lopez 1 Ruben Morales-Menendez 1 Ricardo Ramirez-Mendoza 1 Olivier Sename 2 Luc Dugard 2
1 ITESM - Tecnológico de Monterrey
2 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
Abstract : Based on a Global Chassis Control system with three-layers architecture (decision, control, and physical layers) a Fuzzy Logic (FL) approach is exploited. The FL based decision layer identifies the current driving condition of the vehicle and decides the control strategy to take care of this driving condition. A confusion matrix validates the classification results. The control strategy is implemented through the subsystems (suspension, steering, and braking) at the FL based control layer. The strategy was evaluated under two different tests: slalom and double line change by comparing the performance with an UnControlled system. Early results show the proposed strategy has less roll, yaw movement and side slip angle than an UnControlled system during a double line change maneuver; also, for the slalom test the proposal improves the dynamic vehicle performance allowing the driver to maintain the vehicle under control.
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Contributeur : Olivier Sename <>
Soumis le : vendredi 29 avril 2016 - 18:39:32
Dernière modification le : jeudi 22 août 2019 - 11:32:03
Archivage à long terme le : mardi 15 novembre 2016 - 18:47:41

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  • HAL Id : hal-01309614, version 1

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CNRS | TDS-MACS | UGA | GIPSA | GIPSA-DA | GIPSA-SLR

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Carlos Albertos Vivas Lopez, Ruben Morales-Menendez, Ricardo Ramirez-Mendoza, Olivier Sename, Luc Dugard. Chassis Control based on Fuzzy Logic. IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2016) / IEEE World Congress on Computational Intelligence (WCCI 2016), Jul 2016, Vancouver, Canada. ⟨hal-01309614⟩

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